On the Direct Kinematics Problem of Parallel Mechanisms

The direct kinematics problem of parallel mechanisms, that is, determining the pose of the manipulator platform from the linear actuators’ lengths, is, in general, uniquely not solvable. For this reason, instead of measuring the lengths of the linear actuators, we propose measuring their orientation...

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Bibliographic Details
Main Authors: Arthur Seibel, Stefan Schulz, Josef Schlattmann
Format: Article
Language:English
Published: Hindawi Limited 2018-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2018/2412608