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The kinematic decoupling of parallel manipulators using joint-sensor data

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2 Author(s)
Baron, L. ; Dept. of Mech. Eng., Ecole Polytech. de Montreal, Que., Canada ; Angles, J.

In this paper we decouple the translational and rotational degrees of freedom of the end-effector of parallel manipulators, and hence, decompose the direct kinematics problem into two simpler subproblems. Most of the redundant joint-sensor layouts produce a linear decoupling equation expressing the least-square solution of position for a given orientation of the end-effector. The resulting orientation problem can be cast as a linear algebraic system constrained by the proper orthogonality of the rotation matrix. Although this problem is nonlinear, we propose a procedure that provides what we term a decoupled polar least-square estimate. The resulting procedure is fast, robust to measurement noise, and produces estimates with about the same accuracy as a procedure for nonlinear systems if sufficient redundancy is used

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Robotics and Automation, IEEE Transactions on  (Volume:16 ,  Issue: 6 )