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DSpace at Transilvania University >
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COMEC 2009 >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/123456789/1148
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| Title: | NUMERICAL IMPLEMENTATION OF THE KINEMATICS FOR A 3-DOF PARALLEL ROBOT USING MATLAB |
| Authors: | RAD, Ciprian-Radu
BALAN, Radu
STAN, Sergiu-Dan |
| Keywords: | parallel robots, R-P-S joint structure,
inverse kinematics, direct kinematics |
| Issue Date: | 2009 |
| Publisher: | Transilvania University Press of Braşov |
| Citation: | Google Scholar |
| Series/Report no.: | COMEC 2009;618-623 |
| Abstract: | This paper presents a numerical implementation of inverse and direct kinematics of a 3-DOF parallel robot with R-P-S
(Revolute-Prismatic-Spherical) joint structure using Matlab. The robot has two degrees of orientation freedom and one degree of
translatory freedom. The inverse kinematics was expressed in term of Z-Y-Z Euler angles and direct kinematics was solved
numerically using Newton-Kantorovich (N-K) method. A GUI was created using GUIDE tool from Matlab. Finally the results where
verified using the GUI. |
| URI: | http://hdl.handle.net/123456789/1148 |
| ISBN: | 978-973-598-572-1 |
| Appears in Collections: | COMEC 2009
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