Modeling parallel robot kinematics for 3T2R and 3T3R tasks using reciprocal sets of Euler angles

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Schappler, M.; Tappe, S.; Ortmaier, T.: Modeling parallel robot kinematics for 3T2R and 3T3R tasks using reciprocal sets of Euler angles. In: Robotics 8 (2019), Nr. 3, 68. DOI:

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Sum total of downloads: 120

Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component of kinematic constraints equations for parallel robots based on two reciprocal sets of Euler angles for the end-effector orientation and the orientation residual. The method allows completely removing the redundant coordinate in 3T2R tasks and to solve the inverse kinematics for general serial and parallel robots with the gradient descent algorithm. The functional redundancy of robots with full mobility is exploited using nullspace projection.
License of this version: CC BY 4.0 Unported
Document Type: Article
Publishing status: publishedVersion
Issue Date: 2019
Appears in Collections:Fakultät für Maschinenbau

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pos. country downloads
total perc.
1 image of flag of Germany Germany 56 46.67%
2 image of flag of United States United States 26 21.67%
3 image of flag of China China 9 7.50%
4 image of flag of France France 8 6.67%
5 image of flag of Russian Federation Russian Federation 4 3.33%
6 image of flag of India India 3 2.50%
7 image of flag of No geo information available No geo information available 2 1.67%
8 image of flag of Taiwan Taiwan 2 1.67%
9 image of flag of Hong Kong Hong Kong 2 1.67%
10 image of flag of Romania Romania 1 0.83%
    other countries 7 5.83%

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