Publication

On the trilaterable six-degree-of-freedom parallel and serial manipulators

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2005

Pages

960-967

Doc link

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1570241

File

Download the digital copy of the doc pdf document

Abstract

The inverse/direct kinematics of trilaterable serial/parallel manipulators can be stated as a system of distance constraints whose set of solutions can be determined using a sequence of trilaterations, possibly involving points at infinity. It is possible to decide whether a mechanism is trilaterable by relying only on its topology. Based on this fact, we here enumerate all trilaterable serial and in-parallel robots with six degrees of freedom. The relevance of the obtained family of manipulators is established when it is shown to contain the best-known commercial serial robots. As a result of this analysis, we come up with a general method to solve the inverse/direct kinematics of a wide family of manipulators.

Categories

robots.

Author keywords

trilateration, Cayley-Menger determinants, position analysis of robots

Scientific reference

J.M. Porta, L. Ros and F. Thomas. On the trilaterable six-degree-of-freedom parallel and serial manipulators, 2005 IEEE International Conference on Robotics and Automation, 2005, Barcelona, Espanya, pp. 960-967, IEEE.