Modeling Parallel Robot Kinematics for 3T2R and 3T3R Tasks Using Reciprocal Sets of Euler Angles

verfasst von

Moritz Schappler, Svenja Tappe, Tobias Ortmaier

Abstract

Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom ("3T2R"). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component of kinematic constraints equations for parallel robots based on two reciprocal sets of Euler angles for the end-effector orientation and the orientation residual. The method allows completely removing the redundant coordinate in 3T2R tasks and to solve the inverse kinematics for general serial and parallel robots with the gradient descent algorithm. The functional redundancy of robots with full mobility is exploited using nullspace projection.

Organisationseinheit(en)

Institut für Mechatronische Systeme
Institut für Regelungstechnik

Typ

Artikel

Journal

Robotics

Band

8

ISSN

0167-8493

Publikationsdatum

09.2019

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Maschinenbau, Steuerung und Optimierung, Artificial intelligence

Elektronische Version(en)

https://doi.org/10.3390/robotics8030068 (Zugang: Offen)
https://doi.org/10.15488/9291 (Zugang: Offen)