Closed-Form Solutions for the Forward Kinematics of a 4-DOFs Parallel Robot H4

Hee Byoung Choi, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to conferencePaper

    8 Citations (Scopus)

    Abstract

    This paper present closed-form solutions for the forward kinematics of a 4-DOFs parallel robot H4. Many researchers have tried to obtain closed-form solutions of 3- and 6-DOFs parallel robots, i.e., planar, Delta, Stewart platform and Hexapod robots, in a single variable polynomial equation. Indeed, there are just few effort have been devoted in the past to 4-DOFs parallel robot. Therefore, we focus on the forward kinematics of a 4-DOFs parallel robot H4. Solutions of the forward kinematic yields a 16th degree polynomial in a single variable which indicates that there may be up to 16 different configurations for the travelling plate for a given set of motor's angle. The results are presented via a numerical example.

    Original languageEnglish
    Pages3312-3317
    Number of pages6
    Publication statusPublished - 2003 Dec 26
    Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
    Duration: 2003 Oct 272003 Oct 31

    Other

    Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
    CountryUnited States
    CityLas Vegas, NV
    Period03/10/2703/10/31

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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  • Cite this

    Choi, H. B., Konno, A., & Uchiyama, M. (2003). Closed-Form Solutions for the Forward Kinematics of a 4-DOFs Parallel Robot H4. 3312-3317. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.