OTHER
Direct Kinematics of a 6-PUS Parallel Robot Using a Numeric-Geometric Method
Javier Ruiz-Garcia, Daniel Chaparro-Altamirano, Ricardo Zavala-Yoé, Ricardo A. Ramírez-Mendoza
- Year
- 2013
- Citations
- 6
Abstract
A numerical method to solve the direct kinematics of the 6-PUS parallel robot is presented. This method is based on a simplified geometry of the robot, in such a way that each pair of limbs forms a triangle, the locus of the top vertex of this triangle is an arc. Results of the implementation of the algorithm are presented.
Keywords
KinematicsVertex (graph theory)Robot kinematicsRobotParallel manipulatorComputer scienceInverse kinematicsComputer visionMathematicsGeometry
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