The Isotropic Decoupling of the Direct Kinematics of Parallel Manipulators under Sensor Redundancy

Using redundant sensors, the direct kinematics of general parallel manipulators is here decoupled and reduced to an orientation problem only. The accuracy of the decoupling depends on the condition number of a decoupling matrix. The conditions under which this matrix is isotropic are derived and illustrated with a numerical example.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: Luc Baron, Jorge Angeles
• Keywords: Direct Kinematics, General Parallel Manipulators, ICRA 1995, Redundant Sensors, Robotics