Inverse Kinematics Analysis and Path Planning for 6DOF RSS Parallel Manipulator

被引：0
|
作者：
Yagur, Alena A. [1 ]
Belov, Alexey A. [1 ,2 ]
机构：
[1] ITMO Univ, St Petersburg, Russia
[2] Russian Acad Sci, VA Trapeznikov Inst Control Sci, Moscow, Russia
来源：
2018 22ND INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2018年
关键词：
path planning; manipulators; parallel robots; ACTUATED MANIPULATORS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Spatial parallel manipulators have a number of practical applications due to their high reliability, accuracy, and performance. In this paper we deal with an inverse kinematic problem for six-degree-of-freedom (6DOF) parallel manipulator known as modified Stewart platform with rotative-spherical-spherical (RSS) structure. An effective analytic method for solving the inverse kinematic problem for given terminal state is proposed. This method is used for trajectory planning of 6DOF parallel manipulator. Numerical simulation is considered.
引用
收藏
页码：789 / 793
页数：5
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