Abstract:
This paper finds an analytical expression for the Jacobian matrix of a parallel manipulator as well as for its derivatives (with respect to time or to a change in joint a...Show MoreMetadata
Abstract:
This paper finds an analytical expression for the Jacobian matrix of a parallel manipulator as well as for its derivatives (with respect to time or to a change in joint angles) of any order. The most important part in the presented procedures is the closed-form expression for the velocity closure equations of the manipulator.
Date of Conference: 25-25 April 1997
Date Added to IEEE Xplore: 06 August 2002
Print ISBN:0-7803-3612-7