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.

Key words: Kinematic control, Modular robots, Parallel robots