Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism

Stefan Schulz; Arthur Seibel; Josef Schlattmann

doi:10.1109/ICRA.2018.8460544

Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism

Stefan Schulz
, Arthur Seibel
, Josef Schlattmann

Technische Universität Hamburg

Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › Begutachtung

4 Zitate (Scopus)

Abstract

In general, it is not possible to determine the actual manipulator platform's pose of a parallel mechanism from its active joints' coordinates. This problem is usually solved by using additional numerical procedures or by additional system information from auxiliary sensors, providing several weaknesses including initial pose estimations, reference drives, or workspace limitations. In this paper, we therefore introduce a closed-form solution for the direct kinematics problem of the planar 3-RPR parallel mechanism by using only the orientations of two active joints and the manipulator platform, where P denotes active prismatic joints and R passive revolute joints.

Originalsprache	Englisch
Titel	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Seitenumfang	6
Herausgeber (Verlag)	Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum	10.09.2018
Seiten	968-973
Aufsatznummer	8460544
ISBN (Print)	978-1-5386-3080-8, 978-1-5386-3082-2
ISBN (elektronisch)	978-1-5386-3081-5
DOIs	https://doi.org/10.1109/ICRA.2018.8460544
Publikationsstatus	Erschienen - 10.09.2018
Extern publiziert	Ja
Veranstaltung	2018 IEEE International Conference on Robotics and Automation, ICRA 2018: International forum for robotics researchers - Brisbane Convention & Exhibition Centre, Brisbane, Australien Dauer: 21.05.2018 → 26.05.2018 Konferenznummer: 1 https://www.ieee-ras.org/component/rseventspro/event/570-icra-2018-ieee-international-conference-on-robotics-and-automation

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© 2018 IEEE.

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Schulz, S., Seibel, A., & Schlattmann, J. (2018). Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (S. 968-973). Artikel 8460544 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460544

Schulz, Stefan ; Seibel, Arthur ; Schlattmann, Josef. / Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. S. 968-973 (Proceedings - IEEE International Conference on Robotics and Automation).

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abstract = "In general, it is not possible to determine the actual manipulator platform's pose of a parallel mechanism from its active joints' coordinates. This problem is usually solved by using additional numerical procedures or by additional system information from auxiliary sensors, providing several weaknesses including initial pose estimations, reference drives, or workspace limitations. In this paper, we therefore introduce a closed-form solution for the direct kinematics problem of the planar 3-RPR parallel mechanism by using only the orientations of two active joints and the manipulator platform, where P denotes active prismatic joints and R passive revolute joints.",

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author = "Stefan Schulz and Arthur Seibel and Josef Schlattmann",

note = "Funding Information: This work was supported by the German Research Foundation (DFG) under grant SCHL 275/15-1 Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 : International forum for robotics researchers , ICRA18 ; Conference date: 21-05-2018 Through 26-05-2018",

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Schulz, S, Seibel, A & Schlattmann, J 2018, Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460544, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., S. 968-973, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Queensland, Australien, 21.05.18. https://doi.org/10.1109/ICRA.2018.8460544

Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. / Schulz, Stefan; Seibel, Arthur; Schlattmann, Josef.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. S. 968-973 8460544 (Proceedings - IEEE International Conference on Robotics and Automation).

Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › Begutachtung

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AB - In general, it is not possible to determine the actual manipulator platform's pose of a parallel mechanism from its active joints' coordinates. This problem is usually solved by using additional numerical procedures or by additional system information from auxiliary sensors, providing several weaknesses including initial pose estimations, reference drives, or workspace limitations. In this paper, we therefore introduce a closed-form solution for the direct kinematics problem of the planar 3-RPR parallel mechanism by using only the orientations of two active joints and the manipulator platform, where P denotes active prismatic joints and R passive revolute joints.

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Schulz S, Seibel A, Schlattmann J. Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. S. 968-973. 8460544. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8460544

Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism

Abstract

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