Abstract
A new category of sub-problems is proposed for the RRSR chain. They can be described as 'rotating about two parallel axes to a given point' and the extended subproblem 'rotating sequentially about two parallel axes to a point at the same distance to two given points'. And the solution of these two subproblems is derived. After converting the inverse kinematics of the RRSR chain into several sub-problems, the solution procedures are presented. The multi-solutions are analyzed and the geometric meanings are explained. And the feasibility of this method is validated through an instance with exact parameters.
| Original language | English |
|---|---|
| Pages (from-to) | 372-375 |
| Number of pages | 4 |
| Journal | Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology |
| Volume | 40 |
| Issue number | 3 |
| State | Published - Mar 2008 |
Keywords
- Inverse kinematics sub-problem
- RRSR chains
- Screw
- Twist
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