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.


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    Title :

    Complete Inverse Geometric Model Computation of the Quattro Parallel Kinematic Robot


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Publication date :

    2022-06-18


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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