The inverse/direct kinematics of trilaterable serial/parallel manipulators can be stated as a system of distance constraints whose set of solutions can be determined using a sequence of trilaterations, possibly involving points at infinity. It is possible to decide whether a mechanism is trilaterable by relying only on its topology. Based on this fact, we here enumerate all trilaterable serial and in-parallel robots with six degrees of freedom. The relevance of the obtained family of manipulators is established when it is shown to contain the best-known commercial serial robots. As a result of this analysis, we come up with a general method to solve the inverse/direct kinematics of a wide family of manipulators. ; This work was supported by projects: 'Planificador de trayectorias para sistemas robotizados de arquitectura arbitraria' (J-00930), 'Grup de recerca consolidat - ROBÒTICA' (8007). ; Peer Reviewed


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    Title :

    On the trilaterable six-degree-of-freedom parallel and serial manipulators


    Contributors:

    Publication date :

    2005-01-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629