Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2002.10a
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- Pages.580-583
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- 2002
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- 2005-8446(pISSN)
Direct Position Kinematics Solution For Casing Oscillator Using the Kinematic Inversion
기구학적 전이를 이용한 케이싱 오실레이터의 순기구학 해석
Abstract
This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.