Application of workspace categorization for parallel manipulators in identification of desired kinematics solution

Direct kinematics of parallel manipulators usually is a complicated problem which in general does not have a close form solution. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values.

کلیدواژه ها:

direct kinematics ، 3RRR parallel manipulator ، solution categorizing.