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

Hee Byoung Choi, Atsushi Konno, Masaru Uchiyama

    研究成果: Paper査読

    9 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ3312-3317
    ページ数6
    出版ステータスPublished - 2003 12月 26
    イベント2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
    継続期間: 2003 10月 272003 10月 31

    Other

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

    ASJC Scopus subject areas

    • 制御およびシステム工学
    • ソフトウェア
    • コンピュータ ビジョンおよびパターン認識
    • コンピュータ サイエンスの応用

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