Analytic Jacobian of in-parallel manipulators

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 07 Nov 2002Publisher:IEEEJournal:Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), volume 3, pages 2,376-2,381

Authors: Doik Kim; Wan Kyun Chung; Youngil Youm;

doi: 10.1109/robot.2000.846382

Analytic Jacobian of in-parallel manipulators

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Abstract

A general formulation to obtain an analytic Jacobian matrix for in-parallel manipulators has not been developed yet, although several authors addressed it. This paper suggests a consistent approach to obtain the instantaneous kinematic relation of in-parallel manipulators, by extending the results of screw theory to the forward and inverse instantaneous relations, and gives a formula that can obtain a reciprocal screw analytically without considering geometric relations.

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