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The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

Published online by Cambridge University Press:  01 July 1999

Bruno Siciliano
Bruno Siciliano
Affiliation:
PRISMA Lab, Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125 Napoli (Italy). E-mail: siciliano@disna.dis.unina.it
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Abstract

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This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-of-freedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical and a geometric Jacobian, and a manipulability analysis along the various workspace directions is developed using the concept of force and velocity ellipsoids. A Jacobian-based Closed-Loop Direct Kinematics (CLDK) algorithm is presented to solve the direct kinematics problem along a given trajectory. Simulation results are illustrated for an industrial robot of the Tricept family.

Keywords

Parallel robotsInverse kinematicsJacobianManipulability ellipsoidsDirect kinematics algorithms
Type
Research Article
Information
Robotica , Volume 17 , Issue 4 , July 1999 , pp. 437 - 445
Copyright
© 1999 Cambridge University Press