Closed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanism

Publikationstyp
Conference Paper
Date Issued
2018-09-10
Sprache
English
Author(s)
Schulz, Stefan  
Seibel, Arthur  
Schlattmann, Josef  
Institut
Laser- und Anlagensystemtechnik G-2  
TORE-URI
http://hdl.handle.net/11420/2265
Start Page
968
End Page
973
Citation
Proceedings - IEEE International Conference on Robotics and Automation: 968-973 (2018-09-10)
Contribution to Conference
IEEE International Conference on Robotics and Automation, ICRA 2018  
Publisher DOI
10.1109/ICRA.2018.8460544
Scopus ID
2-s2.0-85063143779
Publisher
IEEE
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.