Browsing by Subject "Parallel manipulator"

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Inverse Kinematics for Functional Redundancy of Symmetric 3T1R Parallel Manipulators using Tait-Bryan-Angle Kinematic Constraints

Schappler, Moritz (Cham : Springer, 2022-06-18)

Functional redundancy for parallel manipulators (PM) with 3T1R degrees of freedom (DoF) presents an untreated niche regarding a general and systematic kinematic description. For an efficient formulation of the inverse ...
Practical Model-based and Robust Control of Parallel Manipulators Using Passivity and Sliding Mode Theory

Abdellatif, Houssem; Kotlarski, Jens; Ortmaier, Tobias; Heimann, Bodo (London : IntechOpen, 2010)

This chapter provides a practical strategy to realize accurate and robust control for 6 DOFs (degrees of freedom) parallel robots. The presented approach consists in two parts. The first basic part is based on the the ...
Structural and Dimensional Synthesis of Overconstraint Symmetric 3T2R Parallel Robots using Tait-Bryan-Angle Kinematic Constraints

Schappler, Moritz (Cham : Springer, 2022-06-18)

The basic parallel robotics principle of defining kinematic constraints as vector loops is transferred from the general 3T3R case to the 3T2R case by applying a nonlinear Tait-Bryan-angle rotation constraint using the ...

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