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Uncertainty configurations of parallel manipulators

Published online by Cambridge University Press:  01 March 2000

Xinhua Zhao  and
Shangxian Peng
Xinhua Zhao
Affiliation:
Department of Mechanical Engineering, Tianjin Institute of Technology, Tianjin 300191 (People's Republic of China)
Shangxian Peng
Affiliation:
Intelligent Machine Institute, Department of Mechanical Engineering, Tianjin University, Tianjin 300072 (People's Republic of China)
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Abstract

This paper presents a new method of analyzing and calculating the uncertainty configurations of parallel manipulators. The main feature of the method that makes it attractive with respect to the methods available in the literature, is its ability to obtain simplified uncertainty configuration equations. It's very useful in real-time control. The application of the proposed method is illustrated in detail by two examples.

Keywords

Parallel manipulatorUncertainty configurationInstantaneous motion
Type
Research Article
Information
Robotica , Volume 18 , Issue 2 , March 2000 , pp. 209 - 211
Copyright
© 2000 Cambridge University Press

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