49195

Автор(ы): 

Yagur A. A. (Санкт-Петербургский национальный исследовательский университет информационных технологий, механики и оптики)
Белов А. А. (ИПУ РАН, Лаборатория 01)

Автор(ов): 

2

Параметры публикации

Тип публикации: 

Доклад

Название: 

Inverse Kinematics Analysis and Path Planning for 6DOF RSS Parallel Manipulator

ISBN/ISSN: 

978-1-5386-4444-7

Наименование конференции: 

  • 22nd International Conference on System Theory, Control and Computing (ICSTCC 2018, Sinaia, Romania)

Наименование источника: 

  • Proceedings of the 22nd International Conference on System Theory, Control and Computing (ICSTCC 2018, Sinaia, Romania)

Город: 

  • Sinaia, Romania

Издательство: 

  • IEEE

Год издания: 

2018

Страницы: 

789-793
Аннотация
Spatial parallel manipulators have a number of practical applications due to their high reliability, accuracy, and performance. In this paper we deal with an inverse kinematic problem for six-degree-of-freedom (6DOF) parallel manipulator known as modified Stewart platform with rotative-sphericalspherical (RSS) structure. An effective analytic method for solving the inverse kinematic problem for given terminal state is proposed. This method is used for trajectory planning of 6DOF parallel manipulator. Numerical simulation is considered.

Библиографическая ссылка: 

Yagur A.A., Белов А.А. Inverse Kinematics Analysis and Path Planning for 6DOF RSS Parallel Manipulator / Proceedings of the 22nd International Conference on System Theory, Control and Computing (ICSTCC 2018, Sinaia, Romania). Sinaia, Romania: IEEE, 2018. С. 789-793.