Details
Originalsprache | Englisch |
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Titel des Sammelwerks | Advances in Robot Kinematics 2022 |
Herausgeber/-innen | Oscar Altuzarra, Andrés Kecskeméthy |
Seiten | 198-207 |
Seitenumfang | 10 |
ISBN (elektronisch) | 978-3-031-08140-8 |
Publikationsstatus | Veröffentlicht - 18 Juni 2022 |
Publikationsreihe
Name | Springer Proceedings in Advanced Robotics |
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Band | 24 SPAR |
ISSN (Print) | 2511-1256 |
ISSN (elektronisch) | 2511-1264 |
Abstract
Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and systematic kinematic description. For an efficient formulation of the inverse kinematics problem (IKP) an existing approach using intrinsic Z- Y ′ - X ′ ′ Tait-Bryan angles for the rotational kinematic constraints is transferred from 3T3R PMs to 3T1R PMs. The adaption of the kinematics model for the five-DoF leg chains of symmetric 3T1R PMs is elaborated in detail. The presented application in a Newton-Raphson IK scheme with nullspace projection is validated within a dimensional synthesis of such PMs, already exploiting the redundancy. The framework is able to reproduce existing PMs from literature. Results show the dimensioning of PMs for an exemplary task.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Ingenieurwesen (insg.)
- Maschinenbau
- Ingenieurwesen (insg.)
- Ingenieurwesen (sonstige)
- Informatik (insg.)
- Artificial intelligence
- Informatik (insg.)
- Angewandte Informatik
- Mathematik (insg.)
- Angewandte Mathematik
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Advances in Robot Kinematics 2022. Hrsg. / Oscar Altuzarra; Andrés Kecskeméthy. 2022. S. 198-207 (Springer Proceedings in Advanced Robotics; Band 24 SPAR).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators Using Tait-Bryan-Angle Kinematic Constraints
AU - Schappler, Moritz
N1 - Funding Information: The author acknowledges the support by the Deutsche Forschungsgemeinschaft (DFG) under grant number 341489206. Matlab code to reproduce the results is available at GitHub under free license at github.com/SchapplM/ robotics-paper ark2022 3T1R.
PY - 2022/6/18
Y1 - 2022/6/18
N2 - Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and systematic kinematic description. For an efficient formulation of the inverse kinematics problem (IKP) an existing approach using intrinsic Z- Y ′ - X ′ ′ Tait-Bryan angles for the rotational kinematic constraints is transferred from 3T3R PMs to 3T1R PMs. The adaption of the kinematics model for the five-DoF leg chains of symmetric 3T1R PMs is elaborated in detail. The presented application in a Newton-Raphson IK scheme with nullspace projection is validated within a dimensional synthesis of such PMs, already exploiting the redundancy. The framework is able to reproduce existing PMs from literature. Results show the dimensioning of PMs for an exemplary task.
AB - Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and systematic kinematic description. For an efficient formulation of the inverse kinematics problem (IKP) an existing approach using intrinsic Z- Y ′ - X ′ ′ Tait-Bryan angles for the rotational kinematic constraints is transferred from 3T3R PMs to 3T1R PMs. The adaption of the kinematics model for the five-DoF leg chains of symmetric 3T1R PMs is elaborated in detail. The presented application in a Newton-Raphson IK scheme with nullspace projection is validated within a dimensional synthesis of such PMs, already exploiting the redundancy. The framework is able to reproduce existing PMs from literature. Results show the dimensioning of PMs for an exemplary task.
KW - 3T1R
KW - Dimensional synthesis
KW - Euler angles
KW - Functional redundancy
KW - Kinematic constraints
KW - Parallel manipulator
KW - Parallel robot
KW - Tait-Bryan angles
UR - http://www.scopus.com/inward/record.url?scp=85133217411&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-08140-8_22
DO - 10.1007/978-3-031-08140-8_22
M3 - Conference contribution
SN - 9783031081392
T3 - Springer Proceedings in Advanced Robotics
SP - 198
EP - 207
BT - Advances in Robot Kinematics 2022
A2 - Altuzarra, Oscar
A2 - Kecskeméthy, Andrés
ER -