In this paper, a formalism based on a vector modeling of joint invariants is applied to the Quattro robot with 3° of freedom. The aim is to compute analytically the complete inverse kinematic model, i.e. both the value of active and passive joints regarding the mobile platform position. This formalism has been already applied to a parallel kinematic machine with revolute joints; in this work, we discuss its extension to parallel kinematic robots with spherical joints.
Complete Inverse Geometric Model Computation of the Quattro Parallel Kinematic Robot
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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