• CN：11-2187/TH
• ISSN：0577-6686

›› 2005, Vol. 41 ›› Issue (8): 96-102.

• 论文 •

模块化可重构三腿并联机器人的运动学控制

1. 北京航空航天大学自动化学院;新加坡制造技术研究所
• 发布日期:2005-08-15

KINEMATIC CONTROL OF 3-LEGGED MODULAR RECONFIGURABLE PARALLEL MANIPULATORS

Chen Weihai;Gao Yong;Yang Guilin;Yu Shouqian

1. School of Automation, Beihang University Singapore Institute of Manufacturing Technology
• Published:2005-08-15

Abstract: To realize online position trajectory planning and control, based on the local POE formula, it is proposed that an effective approach to solve the inverse displacement analysis for a class of modular 3-Legged parallel robots by Paden-Kahan sub- problems. Since the passive joint displacement is solved together with the active joint displacements, the efficiency of computing forward kinematics will be improved if this approach combines with traditional iterative numerical solution method, and online monitoring position trajectory will be realizecl. The effectiveness of the proposed approach is demonstrated by machining demonstrations for a workpiece with spherical surface.