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
相关论文
共 50 条
  • [31] Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide
    Fomin, Alexey
    Antonov, Anton
    Glazunov, Victor
    Rodionov, Yuri
    ROBOTICS, 2021, 10 (01) : 1 - 13
  • [32] An optimum path planning for Cassino Parallel Manipulator by using inverse dynamics
    Carbone, G.
    Ceccarelli, M.
    Oliveira, P. J.
    Saramago, S. E. P.
    Carvalho, J. C. M.
    ROBOTICA, 2008, 26 : 229 - 239
  • [33] Design and kinematics of a novel three DOF parallel manipulator
    Zhang, Ketao
    Fang, Yuefa
    Huai, Chuangfeng
    PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON MECHANICAL ENGINEERING AND MECHANICS 2007, VOLS 1 AND 2, 2007, : 624 - 629
  • [34] Inverse Kinematics Analysis of a 7-DOF Space Manipulator for Trajectory Design
    Pengfei Xin
    Jili Rong
    Yongtai Yang
    Dalin Xiang
    Journal of Beijing Institute of Technology, 2017, 26 (03) : 285 - 291
  • [35] Inverse kinematics of a heavy duty manipulator with 6-DOF based on dual quaternion
    王恒升
    占德友
    黄平伦
    陈伟锋
    JournalofCentralSouthUniversity, 2015, 22 (07) : 2568 - 2577
  • [36] Inverse kinematics of a heavy duty manipulator with 6-DOF based on dual quaternion
    Heng-sheng Wang
    De-you Zhan
    Ping-lun Huang
    Wei-feng Chen
    Journal of Central South University, 2015, 22 : 2568 - 2577
  • [37] A novel inverse kinematics for solving repetitive motion planning of 7-DOF SRS manipulator
    Zhao, Jingdong
    Xu, Zichun
    Zhao, Liangliang
    Li, Yuntao
    Ma, Liyan
    Liu, Hong
    ROBOTICA, 2023, 41 (01) : 392 - 409
  • [38] Inverse kinematics problem for 6-DOF space manipulator based on the theory of screws
    Xie, Jian
    Qiang, Wenyi
    Liang, Bin
    Li, Cheng
    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 1659 - +
  • [39] Inverse kinematics of a heavy duty manipulator with 6-DOF based on dual quaternion
    Wang Heng-sheng
    Zhan De-you
    Huang Ping-lun
    Chen Wei-feng
    JOURNAL OF CENTRAL SOUTH UNIVERSITY, 2015, 22 (07) : 2568 - 2577
  • [40] Inverse Dynamics Analysis of a 2-DOF Planar Parallel Manipulator
    Zhu, Xiaorong
    Shen, Huiping
    Zhu, Wei
    Cai, Lan
    FRONTIERS OF MANUFACTURING AND DESIGN SCIENCE, PTS 1-4, 2011, 44-47 : 1848 - +
12345