OTHER
Forward kinematics and workspace analysis of a 3-RPS medical parallel robot
Ciprian-Radu Rad, Sergiu‐Dan Stan, Radu Bălan, Ciprian Lăpuşan
- Year
- 2010
- Citations
- 11
Abstract
The paper addresses the analysis of forward kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink. Forward kinematics is solved numerically using Newton-Kantorovich (N-K) method and then is verified with a 1:1 CAD model through SimMechanics Toolbox from MATLAB/Simulink. Also the workspace of the robot is determined through forward kinematics equations.
Keywords
WorkspaceKinematicsForward kinematicsRevolute jointMATLABRobot kinematicsParallel manipulatorComputer scienceToolboxInverse kinematics
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