Spherically actuated platform manipulator

DOI10.1002/rob.1012zbMath0993.70005OpenAlexW1992048575MaRDI QIDQ2711925

Dana B. Poling, Robert L. II Williams

Publication date: 15 September 2002

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1172775949

zbMATH Keywords

inverse kinematicsdirect kinematicsvelocity analysisJacobian operatorspherical jointsactive joint ratesend effectorspherical-prismatic-universal chainspherically actuated parallel manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (1)

A family of spherical parallel manipulators with two legs

Cites Work

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• Identification of placement parameters for modular platform manipulators
• Conditions for line-based singularities in spatial platform manipulators
• Kinematic analysis and singularity representation of spatial five-degree-of-freedom parallel mechanisms
• Dynamic Modeling and Control of a Ball-Joint-Like Variable-Reluctance Spherical Motor

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