Point-based Jacobian formulation for computational kinematics of manipulators

DOI10.1016/J.MECHMACHTHEORY.2006.01.011MaRDI QIDQ857211zbMATH OpenOpenAlexFDO

Authors O. Salgado, Oscar Altuzarra, Víctor Petuya, A. Hernández

Publication date 14 December 2006

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2006.01.011

zbMATH Keywords

velocity equationparallel manipulatorsdimensionless Jacobianmotion space

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cited in

(6)

• Unification and simplification of velocity/acceleration of limited-dof parallel manipulators with linear active legs
• On the angular velocity of a rigid body: matrix and vector representations
• Computational kinematics for robotic manipulators: Jacobian problems
• Computational kinematics for robotic manipulators: instantaneous motion pattern
• Formulating Jacobian matrices for the dexterity analysis of parallel manipulators
• A numerical procedure to solve nonlinear kinematic problems in spatial mechanisms

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