An approach for obtaining unique kinematic solutions of a spherical parallel manipulator

Aibek Niyetkaliyev, Almas Shintemirov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In this paper an approach for obtaining unique solutions to forward and inverse kinematics of a spherical parallel manipulator (SPM) system with revolute joints is proposed. Kinematic analysis of a general SPM with revolute joints is revisited and the proposed approach is formulated in the form of easy-to-follow algorithms that are described in detail. A graphical verification method using SPM computer-aided-design (CAD) models is presented together with numerical and experimental examples that confirm the correctness of the proposed approach. It is expected that this approach can be applied to SPMs with different geometries and can be useful in designing real-time control systems of SPMs.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1355-1360
Number of pages6
ISBN (Print)9781479957361
DOIs
Publication statusPublished - 2014
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: Jul 8 2014Jul 11 2014

Other

Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
CountryFrance
CityBesancon
Period7/8/147/11/14

Fingerprint

Manipulators
Kinematics
Inverse kinematics
Real time control
Computer aided design
Control systems
Geometry

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Niyetkaliyev, A., & Shintemirov, A. (2014). An approach for obtaining unique kinematic solutions of a spherical parallel manipulator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 1355-1360). [6878271] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2014.6878271

An approach for obtaining unique kinematic solutions of a spherical parallel manipulator. / Niyetkaliyev, Aibek; Shintemirov, Almas.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1355-1360 6878271.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Niyetkaliyev, A & Shintemirov, A 2014, An approach for obtaining unique kinematic solutions of a spherical parallel manipulator. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 6878271, Institute of Electrical and Electronics Engineers Inc., pp. 1355-1360, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014, Besancon, France, 7/8/14. https://doi.org/10.1109/AIM.2014.6878271
Niyetkaliyev A, Shintemirov A. An approach for obtaining unique kinematic solutions of a spherical parallel manipulator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1355-1360. 6878271 https://doi.org/10.1109/AIM.2014.6878271
Niyetkaliyev, Aibek ; Shintemirov, Almas. / An approach for obtaining unique kinematic solutions of a spherical parallel manipulator. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1355-1360
@inproceedings{bdf93134c4ad4a3c83175bb436e03b6c,
title = "An approach for obtaining unique kinematic solutions of a spherical parallel manipulator",
abstract = "In this paper an approach for obtaining unique solutions to forward and inverse kinematics of a spherical parallel manipulator (SPM) system with revolute joints is proposed. Kinematic analysis of a general SPM with revolute joints is revisited and the proposed approach is formulated in the form of easy-to-follow algorithms that are described in detail. A graphical verification method using SPM computer-aided-design (CAD) models is presented together with numerical and experimental examples that confirm the correctness of the proposed approach. It is expected that this approach can be applied to SPMs with different geometries and can be useful in designing real-time control systems of SPMs.",
author = "Aibek Niyetkaliyev and Almas Shintemirov",
year = "2014",
doi = "10.1109/AIM.2014.6878271",
language = "English",
isbn = "9781479957361",
pages = "1355--1360",
booktitle = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

TY - GEN

T1 - An approach for obtaining unique kinematic solutions of a spherical parallel manipulator

AU - Niyetkaliyev, Aibek

AU - Shintemirov, Almas

PY - 2014

Y1 - 2014

N2 - In this paper an approach for obtaining unique solutions to forward and inverse kinematics of a spherical parallel manipulator (SPM) system with revolute joints is proposed. Kinematic analysis of a general SPM with revolute joints is revisited and the proposed approach is formulated in the form of easy-to-follow algorithms that are described in detail. A graphical verification method using SPM computer-aided-design (CAD) models is presented together with numerical and experimental examples that confirm the correctness of the proposed approach. It is expected that this approach can be applied to SPMs with different geometries and can be useful in designing real-time control systems of SPMs.

AB - In this paper an approach for obtaining unique solutions to forward and inverse kinematics of a spherical parallel manipulator (SPM) system with revolute joints is proposed. Kinematic analysis of a general SPM with revolute joints is revisited and the proposed approach is formulated in the form of easy-to-follow algorithms that are described in detail. A graphical verification method using SPM computer-aided-design (CAD) models is presented together with numerical and experimental examples that confirm the correctness of the proposed approach. It is expected that this approach can be applied to SPMs with different geometries and can be useful in designing real-time control systems of SPMs.

UR - http://www.scopus.com/inward/record.url?scp=84906657149&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84906657149&partnerID=8YFLogxK

U2 - 10.1109/AIM.2014.6878271

DO - 10.1109/AIM.2014.6878271

M3 - Conference contribution

SN - 9781479957361

SP - 1355

EP - 1360

BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

PB - Institute of Electrical and Electronics Engineers Inc.

ER -