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

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

    Research output: Contribution to journalConference articlepeer-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 languageEnglish
    Pages (from-to)2671-2676
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume3
    Publication statusPublished - 1997 Jan 1
    EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
    Duration: 1997 Apr 201997 Apr 25

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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