Article
Version 1
This version is not peer-reviewed
Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles
Version 1
: Received: 27 June 2019 / Approved: 1 July 2019 / Online: 1 July 2019 (12:17:56 CEST)
A peer-reviewed article of this Preprint also exists.
Schappler, M.; Tappe, S.; Ortmaier, T. Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles. Robotics 2019, 8, 68. Schappler, M.; Tappe, S.; Ortmaier, T. Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles. Robotics 2019, 8, 68.
Abstract
Industrial manipulators and parallel robots are often used for tasks like 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 to completely remove 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.
Keywords
parallel robot; five-DoF task; 3T2R task; functional redundancy; task redundancy; redundancy resolution; reciprocal Euler angles; inverse kinematics
Subject
Engineering, Industrial and Manufacturing Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Comments (0)
We encourage comments and feedback from a broad range of readers. See criteria for comments and our Diversity statement.
Leave a public commentSend a private comment to the author(s)
* All users must log in before leaving a comment