Analytic Jacobian of in-parallel manipulators

Proceedings-IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2000, Pages 2376-2381

  Kim, Doik ^a   Chung, Wankyun ^a   Youm, Y ^a  

^a Department of Mechanical Engineering   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

FORWARD INSTANTANEOUS KINEMATICS; IN-PARALLEL MANIPULATOR; JACOBIAN MATRIX; SCREW THEORY;

INVERSE PROBLEMS; KINEMATICS; MATRIX ALGEBRA; UNIVERSAL JOINTS;

MANIPULATORS;

EID: 0033715951     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2000.846382     Document Type: Article

References (8)

1. S. Dutré, H. Bruyninckx, and J. De Schutter, "The Analytical Jacobian and its Derivative for a Parallel Manipulator," IEEE Int. Conf. on Robotics and Automation, pp. 2961-2966, 1997
2. Doik Kim, and W. K. Chung, "Analytic Singularity Equation and Analysis of 6-DOF Parallel Manipulators Using Local Structurization Method," IEEE Trans. on Robotics and Automation, vol. 15, no. 4, pp. 612-622, 1999
3. Doik Kim, W. K. Chung, and Y. Youm, "Singularity Analysis of 6-DOF Manipulators with the Analytical Representation of the Determinant," IEEE Int. Conf. on Robotics and Automation, pp. 889-894, 1999
4. Doik Kim, W. K. Chung, and Y. Youm, "Analytic Formulations of Reciprocal Screws," Technical Report, no. MERL-99PMO1, POSTECH, 1999
5. V. Kumar, "Instantaneous Kinematics of Parallel-Chain Robotic Mechanisms," Trans. ASME J. of Mechanical Design, vol. 114, pp. 349-358, 1992
6. M. G. Mohamed, and J. Duffy, "A Direct Determination of the Instantaneous Kinematics of Fully Parallel Robot Manipulators," Trans. ASME J. of Mech. Trans., and Auto. in Design, vol. 107, pp. 226-229, 1985
7. M. W. Spong, and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, 1989
8. T. Yoshikawa, Foundations of Robotics, MIT Press, 1990