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

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-spherical-spherical (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.