Inverse kinematic solutions for parallel robots with singularity robustness
碩士 === 國立清華大學 === 動力機械工程學系 === 85 === In this paper, for the first time, two inverse kinematic solutions with singularity robustness for parallel robots manipulators are unfied in a general damped least square method. In these approachs, feedback corrections are introduced to eliminate positioning e...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
1997
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| Online Access: | http://ndltd.ncl.edu.tw/handle/91659196374121852413 |
| Summary: | 碩士 === 國立清華大學 === 動力機械工程學系 === 85 === In this paper, for the first time, two inverse kinematic solutions with singularity robustness for parallel robots manipulators are unfied in a general damped least square method. In these approachs, feedback corrections are introduced to eliminate positioning errors. And illustrative examples are given to show their effectness in practical applications.
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