Abstract
A solution for the inverse kinematics problem of a planar parallel 3-legged platform with holonomic higher pairs is presented. Kinematic mapping is used to represent distinct planar displacements of the end-effector as discrete points in the image space. Separate motion of each leg of the manipulator traces an hyperboloid of one sheet in this space. Therefore, points of intersection of the three hyperboloids represent feasible end-effector displacements. Determination of the three joint input variables required to attain a desired feasible pose, from the respective hyperboloid equations, is described and a numerical example is given.
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Hayes, M.J.D., Zsombor-Murray, P.J. (1998). Inverse Kinematics of a Planar Manipulator with Holonomic Higher Pairs. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_6
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DOI: https://doi.org/10.1007/978-94-015-9064-8_6
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