Real‐time actual pose determination of the general fully parallel spherical wrist, using only one extra sensor

DOI10.1002/ROB.8110MaRDI QIDQ4331395zbMATH OpenOpenAlexFDO

Authors Vincenzo Parenti-Castelli, Raffaele Di Gregorio

Publication date 8 September 2002

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.8110

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Biomechanics (92C10)

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• Real‐time direct kinematics of general six‐degree‐of‐freedom parallel manipulators with minimum‐sensor data

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• Real-time algorithm, based on two extra sensors, for monitoring platform's orientation of underactuated parallel wrists
• Accurate and fast body pose estimation by three point position data

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