Abstract:
The paper addresses the analysis of forward kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink. ...Show MoreMetadata
Abstract:
The paper addresses the analysis of forward kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink. Forward kinematics is solved numerically using Newton-Kantorovich (N-K) method and then is verified with a 1:1 CAD model through SimMechanics Toolbox from MATLAB/Simulink. Also the workspace of the robot is determined through forward kinematics equations.
Published in: 2010 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)
Date of Conference: 28-30 May 2010
Date Added to IEEE Xplore: 23 July 2010
ISBN Information:
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