Abstract
A new type of robot manipulator which possesses rigidity capabilities and a large workspace is presented. This robot is composed of several modules which consist of elementary manipulators with the parallel structure of the “Stewart Platform”. However, the structure of our new robot manipulator raises modelling difficulties. First, one parallel module is studied and a new method of computation of the direct kinematic model is proposed. Then, the computation of the complete direct and inverse kinematic model of our robot manipulator is presented.
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© 1990 Springer-Verlag
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Charentus, S., Renaud, M. (1990). Modelling and control of a modular, redundant robot manipulator. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042538
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DOI: https://doi.org/10.1007/BFb0042538
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