Optimal forward kinematics map for a parallel manipulator with sensor redundancy

Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA

Volumn 1, Issue , 2003, Pages 354-359

  Yiu, Y K ^a   Li, Z X ^a  

^a HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

[No Author keywords available]

Indexed keywords

ARTIFICIAL INTELLIGENCE; AUTOMATION; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; REDUNDANCY; ROBOTICS;

ANGLE SENSORS; DEGREE OF FREEDOM; EXTRA SENSORS; FORWARD KINEMATICS; NEAR-OPTIMAL; PARALLEL MANIPULATORS; SENSOR REDUNDANCY;

MANIPULATORS;

EID: 33749073502     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CIRA.2003.1222115     Document Type: Conference Paper

References (12)

1. M.L. Husty. An algorithm for solving the direct kinematics of general stewart-gough platforms. Mech. Mach. Theory-31(4), 1996.
2. R. Kamra, D. Kohli, and A.K. Dhingra. Displacement analysis of a six-dof parallel manipulator with 3r3p and 4r2p chains. In Proc. Of DETC 98, New York: American Society of Mechanical Engineers, 1998.
3. S. Kock and W. Schumacher. Control of a fast parallel robot with a redundant chain and gearboxes: Experimental results. In Proceedings of IEEE Intenational Conjerence on Robotics and Automation, 2000.
4. T.Y Lee and J.K. Shim. Algebraic elimination-based realtime forward kinematics of the 6 6 stewart platform with planar base and platform. In Proceedings of IEEE International Conference on Robotics and Automation, pages 1301-1306, 2001.
5. G.F. Liu, Y.K. Yiu, and Z.X. Li. A unified geometric approach on modeling and control of constrained mechanical systems. IEEE f i n s . on Robotics and Automation (accepted), 2002.
6. Y. Nhura and M. Ghodoussi. Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators. ZEEE finsactions on Robotics and Automation, 5(3):294-302, 1989.
7. J. Nielsen and B. Roth. On the kinematic analysis of robotic mechanisms. International Journal of Robotics Ressenrch, 18(12), 1999.
8. C.W. Wampler. Numerical continuation methods for solving polynomial systems arising in kinematics. J. oj Mech. Design, 112(59), 1990.
9. Y.K. Yiu. Geometry, Dynamics and Control of Parallel Manipulators. PhD thesis, EEE Dept., The Hong Kong University of Science and Technology, 2002.
10. Y.K. Yiu and Z.X. Li. Control of parallel mechanismsa geometric approach. In American Control Conference, 2002.
11. Y.K. Yiu, G.F. Liu, Z.H. Xiong, H. Cheng, and Z.X. Li. On the geometry of configuration space or parallel manipulator. In The 5th World Multi-Conference on Systemics, Cybernetics and Informatics (SCIZOOl), Orlando
12. Y.K.Yiu and Z.X. Li. Auto-calibration for a parallel ma-In IEEE Int. Conf. us, 2001. nipulator with sensor redundancy. Robotics and Automation(1CRA) (accepted), 2003.