Singularity-consistent parameterization based direct kinematics algorithm for a class of parallel manipulators

S. Bhattacharya; D. N. Nenchev; Masaru Uchiyama

Singularity-consistent parameterization based direct kinematics algorithm for a class of parallel manipulators

S. Bhattacharya, D. N. Nenchev, Masaru Uchiyama

Research output: Contribution to journal › Conference article › peer-review

Abstract

A singularity-consistent direct kinematics algorithm is a necessity for the analysis and control of parallel manipulators. The present work proposes a first order singularity consistent algorithm for a class of parallel manipulators. It is shown that the algorithm is stable, convergent and can handle the multiplicity of the direct kinematics solutions for the manipulators. The performance of the method is analyzed with the help of the numerical examples incorporated at the end of this paper.

Original language	English
Pages (from-to)	2671-2676
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
Publication status	Published - 1997 Jan 1
Event	Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: 1997 Apr 20 → 1997 Apr 25

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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title = "Singularity-consistent parameterization based direct kinematics algorithm for a class of parallel manipulators",

abstract = "A singularity-consistent direct kinematics algorithm is a necessity for the analysis and control of parallel manipulators. The present work proposes a first order singularity consistent algorithm for a class of parallel manipulators. It is shown that the algorithm is stable, convergent and can handle the multiplicity of the direct kinematics solutions for the manipulators. The performance of the method is analyzed with the help of the numerical examples incorporated at the end of this paper.",

author = "S. Bhattacharya and Nenchev, {D. N.} and Masaru Uchiyama",

year = "1997",

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language = "English",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) ; Conference date: 20-04-1997 Through 25-04-1997",

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AU - Bhattacharya, S.

AU - Nenchev, D. N.

AU - Uchiyama, Masaru

PY - 1997/1/1

Y1 - 1997/1/1

N2 - A singularity-consistent direct kinematics algorithm is a necessity for the analysis and control of parallel manipulators. The present work proposes a first order singularity consistent algorithm for a class of parallel manipulators. It is shown that the algorithm is stable, convergent and can handle the multiplicity of the direct kinematics solutions for the manipulators. The performance of the method is analyzed with the help of the numerical examples incorporated at the end of this paper.

AB - A singularity-consistent direct kinematics algorithm is a necessity for the analysis and control of parallel manipulators. The present work proposes a first order singularity consistent algorithm for a class of parallel manipulators. It is shown that the algorithm is stable, convergent and can handle the multiplicity of the direct kinematics solutions for the manipulators. The performance of the method is analyzed with the help of the numerical examples incorporated at the end of this paper.

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M3 - Conference article

AN - SCOPUS:0030652489

VL - 3

SP - 2671

EP - 2676

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

T2 - Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4)

Y2 - 20 April 1997 through 25 April 1997

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