Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component of kinematic constraints equations for parallel robots based on two reciprocal sets of Euler angles for the end-effector orientation and the orientation residual. The method allows completely removing the redundant coordinate in 3T2R tasks and to solve the inverse kinematics for general serial and parallel robots with the gradient descent algorithm. The functional redundancy of robots with full mobility is exploited using nullspace projection.


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    Title :

    Modeling parallel robot kinematics for 3T2R and 3T3R tasks using reciprocal sets of Euler angles


    Contributors:

    Publication date :

    2019-01-01


    Remarks:

    Robotics 8 (2019), Nr. 3



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    004 / 620 / 629




    Modeling parallel robot kinematics for 3T2R and 3T3R tasks using reciprocal sets of Euler angles

    Schappler, Moritz / Tappe, Svenja / Ortmaier, Tobias | TIBKAT | 2019

    Free access




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    Markley, F. Landis / Crassidis, John L. | Springer Verlag | 2014