Abstract
This chapter will present the relation determining the pose of the end-effector of a parallel robot from its articular coordinates. This relation presents a practical and obvious advantage for the control of the pose of the manipulator, but also, as we will see, for the velocity control of the end-effector.
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© 2000 Kluwer Academic Pulishers
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Merlet, JP. (2000). Direct kinematics. In: Parallel Robots. Solid Mechanics and Its Applications, vol 74. Springer, Dordrecht. https://doi.org/10.1007/978-94-010-9587-7_4
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DOI: https://doi.org/10.1007/978-94-010-9587-7_4
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-0385-1
Online ISBN: 978-94-010-9587-7
eBook Packages: Springer Book Archive