제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.83.2-83
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- 2001
New Efficient Direct Kinematics for 6-dof Parallel-Serial Haptic Devices
Abstract
This paper presents a new formulation approach to reduce computational burden of the direct kinematics of 6-dof haptic devices with three sets of a parallel-serial linkage. Their direct kinematics has been formulated through employing the Denavit-Hartenberg notation, which results in complicated formulation procedures and heavy computational burden. For reducing these problems, this paper reconfigures the haptic devices into an equivalent kinematic model of the 3-6 Stewart-Gough Platform that has three connecting joints on the moving platform. Moreover, the direct kinematics of the 3-6 Platform can be effectively formulated by using the proposed Tetrahedron Approach.
Keywords