TY - GEN
T1 - An approach for obtaining unique kinematic solutions of a spherical parallel manipulator
AU - Niyetkaliyev, Aibek
AU - Shintemirov, Almas
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
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.
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U2 - 10.1109/AIM.2014.6878271
DO - 10.1109/AIM.2014.6878271
M3 - Conference contribution
AN - SCOPUS:84906657149
SN - 9781479957361
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1355
EP - 1360
BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Y2 - 8 July 2014 through 11 July 2014
ER -