Kinematics and Workspace Analysis of a Parallel Wire Mechanism for Measuring a Robot Pose
作者： Jae Won Jeong , Soo Hyun Kim , Yoon Keun Kwak
DOI: 10.1016/S0094-114X(98)00080-9
关键词: Industrial robot 、 Robot 、 Robotics 、 Control theory 、 Simulation 、 Robot kinematics 、 Kinematics 、 Artificial intelligence 、 Forward kinematics 、 Workspace 、 Engineering 、 Mechanism (engineering)
摘要: This paper presents a parallel wire mechanism for measuring robot pose of 6 degrees freedom (DOF). The position and orientation end-effector are obtained from the six lengths measured in mechanism. forward kinematics is solved by using numerical method, determined unique solution based on geometric configuration method to estimate workspace represented. It verified that proposed can measure 6-DOF industrial effectively.
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