Inverse kinematic analysis of parallel supporting structure based on Rodrigues parameters

Gang Cheng; Shi-Rong Ge; Yong-Jian Wan

doi:10.1117/12.831456

5 May 2009 Inverse kinematic analysis of parallel supporting structure based on Rodrigues parameters

Gang Cheng, Shi-Rong Ge, Yong-Jian Wan

Proceedings Volume 7281, 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Large Mirrors and Telescopes; 72810V (2009) https://doi.org/10.1117/12.831456
Event: AOMATT 2008 - 4th International Symposium on Advanced Optical Manufacturing, 2008, Chengdu, Chengdu, China

Abstract

A new method to describe the position-stance of parallel supporting structure is proposed based on Rodrigues theory. Comparing with others methods, the kinematic model with Rodrigues parameters has the advantages including least computational parameters, no trigonometric function calculation and convenient real-time control. The model of the inverse kinematics is established and the inverse solutions of the position-stance are obtained by analyzing the topologic structure of the parallel supporting structure with 3-RPS limb. By analyzing the vectors of the manipulator, the velocity and acceleration models of moving platform, limbs and end-effector arw deduced. According to the designed kinematic track, it is convenient to control accurately the supporting structure by the inverse kinematic model of the mechanism.

Citation Download Citation

Gang Cheng, Shi-Rong Ge, and Yong-Jian Wan "Inverse kinematic analysis of parallel supporting structure based on Rodrigues parameters", Proc. SPIE 7281, 4th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Large Mirrors and Telescopes, 72810V (5 May 2009); https://doi.org/10.1117/12.831456

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