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Abstract: To realize online position trajectory planning and
control, based on the local POE formula, it is proposed that an
effective approach to solve the inverse displacement analysis for a
class of modular 3-Legged parallel robots by Paden-Kahan sub- problems.
Since the passive joint displacement is solved together with the active
joint displacements, the efficiency of computing forward kinematics will
be improved if this approach combines with traditional iterative
numerical solution method, and online monitoring position trajectory
will be realizecl. The effectiveness of the proposed approach is
demonstrated by machining demonstrations for a workpiece with spherical
surface.
Key words: Modular robots Parallel robots Kinematic control
CLC No: TP242
国家自然科学基金(30575008)和863计划(2002AA421160)资助项目.
Received 20050302, received in revised form 20050513
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