Abstract
The measurement of the link lengths of a general six degrees of freedom parallel manipulator is not sufficient to determine its actual posture. In fact, there are 40 complex solutions to this problem. We show that adding additional rotary sensors allows us to know the position of some points on the platform and reduces the number of solutions. We give conditions under which the manipulator has a unique posture.
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Tancredi, L., Teillaud, M., Merlet, JP. (1995). Forward Kinematics of a Parallel Manipulator with Additional Rotary Sensors Measuring the Position of Platform Joints. In: Merlet, JP., Ravani, B. (eds) Computational Kinematics ’95. Solid Mechanics and Its Applications, vol 40. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-0333-6_27
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DOI: https://doi.org/10.1007/978-94-011-0333-6_27
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