Publisher DOI: 10.1109/ICRA.2018.8460544
Title: Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism
Language: English
Authors: Schulz, Stefan 
Seibel, Arthur 
Schlattmann, Josef 
Issue Date: 10-Sep-2018
Source: Proceedings - IEEE International Conference on Robotics and Automation: 968-973 (2018-09-10)
Journal or Series Name: Proceedings - IEEE International Conference on Robotics and Automation 
Abstract (english): In general, it is not possible to determine the actual manipulator platform's pose of a parallel mechanism from its active joints' coordinates. This problem is usually solved by using additional numerical procedures or by additional system information from auxiliary sensors, providing several weaknesses including initial pose estimations, reference drives, or workspace limitations. In this paper, we therefore introduce a closed-form solution for the direct kinematics problem of the planar 3-RPR parallel mechanism by using only the orientations of two active joints and the manipulator platform, where P denotes active prismatic joints and R passive revolute joints.
URI: http://hdl.handle.net/11420/2265
ISBN: 978-153863081-5
ISSN: 1050-4729
Institute: Laser- und Anlagensystemtechnik G-2 
Type: InProceedings (Aufsatz / Paper einer Konferenz etc.)
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