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

Aibek Niyetkaliyev; Almas Shintemirov

doi:10.1109/AIM.2014.6878271

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

Aibek Niyetkaliyev, Almas Shintemirov

Department of Robotics and Mechatronics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 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 language	English
Title of host publication	AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1355-1360
Number of pages	6
ISBN (Print)	9781479957361
DOIs	https://doi.org/10.1109/AIM.2014.6878271
Publication status	Published - 2014
Event	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France Duration: Jul 8 2014 → Jul 11 2014

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other	2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Country/Territory	France
City	Besancon
Period	7/8/14 → 7/11/14

ASJC Scopus subject areas

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

Access to Document

10.1109/AIM.2014.6878271

Cite this

Niyetkaliyev, A., & Shintemirov, A. (2014). An approach for obtaining unique kinematic solutions of a spherical parallel manipulator. In AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 1355-1360). [6878271] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). 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.

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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

Niyetkaliyev, Aibek ; Shintemirov, Almas. / An approach for obtaining unique kinematic solutions of a spherical parallel manipulator. AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1355-1360 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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

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