by Miguel Diaz-Rodriguez, Ruben D Chacon, Gilberto Gonzalez-Parra
Abstract:
In this paper a closed form solution for the forward kinematics of a 3-PRS fully parallel robot is developed. The closed form solution is obtained based on Grobner Basis. This paper is a contribution to a work in progress toward the mechatronic design of a rehabilitation robot for sprained ankle injuries.
Reference:
Forward position problem of a 2R1T parallel robot using Gröbner basis (Miguel Diaz-Rodriguez, Ruben D Chacon, Gilberto Gonzalez-Parra), Chapter in Avances en simulación computacional y modelado numérico, Sociedad venezolana de metodos numericos en ingenieria, 2012.
Bibtex Entry:
@incollection{diaz2012a,
title={Forward position problem of a 2{R}1{T} parallel robot using {G}röbner basis},
author={Diaz-Rodriguez, Miguel and Chacon, Ruben D and Gonzalez-Parra, Gilberto},
booktitle={Avances en simulaci{\'o}n computacional y modelado num{\'e}rico},
pages={EC13--EC18},
year={2012},
publisher={Sociedad venezolana de metodos numericos en ingenieria},
url={https://www.researchgate.net/publication/280655829_Forward_Position_Problem_of_a_2R1T_Parallel_Robot_Using_Grbner_Basis?ev=prf_pub},
abstract={In this paper a closed form solution for the forward kinematics of a 3-PRS fully parallel robot is developed. The closed form solution is obtained based on Grobner Basis. This paper is a contribution to a work in progress toward the mechatronic design of a rehabilitation robot for sprained ankle injuries.},
keywords={Forward kinematics, parallel manipulator, closed form solution, Grobner Basis},
}