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Proceedings Paper

Inverse kinematic analysis of parallel supporting structure based on Rodrigues parameters
Author(s): Gang Cheng; Shi-Rong Ge; Yong-Jian Wan
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Paper Abstract

A new method to describe the position-stance of parallel supporting structure is proposed based on Rodrigues theory. Comparing with others methods, the kinematic model with Rodrigues parameters has the advantages including least computational parameters, no trigonometric function calculation and convenient real-time control. The model of the inverse kinematics is established and the inverse solutions of the position-stance are obtained by analyzing the topologic structure of the parallel supporting structure with 3-RPS limb. By analyzing the vectors of the manipulator, the velocity and acceleration models of moving platform, limbs and end-effector arw deduced. According to the designed kinematic track, it is convenient to control accurately the supporting structure by the inverse kinematic model of the mechanism.

Paper Details

Date Published: 5 May 2009
PDF: 6 pages
Proc. SPIE 7281, 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Large Mirrors and Telescopes, 72810V (5 May 2009); doi: 10.1117/12.831456
Show Author Affiliations
Gang Cheng, China Univ. of Mining and Technology (China)
Shi-Rong Ge, China Univ. of Mining and Technology (China)
Yong-Jian Wan, Institute of Optics and Electronics (China)


Published in SPIE Proceedings Vol. 7281:
4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Large Mirrors and Telescopes
Wenhan Jiang; Roland Geyl; Myung K. Cho; Fan Wu, Editor(s)

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