## 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 16^{th} 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 |
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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 27 → 2003 10月 31 |

### Other

Other | 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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国/地域 | United States |

City | Las Vegas, NV |

Period | 03/10/27 → 03/10/31 |

## 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