Abstract
This chapter will examine the relations between the articular coordinates of a parallel robot and the end-effector pose. The relation giving the articular coordinates for a given pose of the end-effector is called inverse kinematics. Relationships between generalized and articular velocities will then be established: hence jacobian and inverse jacobian matrices will be determined. We will show that inverse formulas are generally simple, while direct formulas are complex.
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© 2000 Kluwer Academic Pulishers
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Merlet, JP. (2000). Jacobian and inverse kinematics. In: Parallel Robots. Solid Mechanics and Its Applications, vol 74. Springer, Dordrecht. https://doi.org/10.1007/978-94-010-9587-7_3
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DOI: https://doi.org/10.1007/978-94-010-9587-7_3
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-0385-1
Online ISBN: 978-94-010-9587-7
eBook Packages: Springer Book Archive