A distributed approach for solving the position inverse kinematics of mobile parallel manipulators

This paper presents a modified method for solving the Inverse Kinematics problem for Parallel Manipulators. The manipulator assumed consists of two 6R serial chains in parallel (biped configuration) with multiple orthogonally intersecting joint axes. The problem question is to determine whether or n...

Full description

Saved in:

Bibliographic Details
Published in:	2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE) pp. 283 - 286
Main Authors:	Shah, Z. A., Abdul Qayyum, T., Shah, S. I. A.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-04-2014
Subjects:	12 DOF Walker 2-6R Manipulator 3D Manipulator Biped Distributed Inverse Kinematics Foot Hip Joints Legged locomotion Manipulators Mobile Manipulators Parallel Manipulators Pelvis
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Description
Summary:	This paper presents a modified method for solving the Inverse Kinematics problem for Parallel Manipulators. The manipulator assumed consists of two 6R serial chains in parallel (biped configuration) with multiple orthogonally intersecting joint axes. The problem question is to determine whether or not is it possible to attain a certain goal configuration of the base and if yes then how to solve for the unknown joint angles. In principle this method can be extended to applications for mobile parallel manipulators with more than 2 serial chains.
ISBN:	1479951315 9781479951314
DOI:	10.1109/iCREATE.2014.6828380