Design considerations of high precision 6-HTRT parallel manipulator
摘要
Describes a new architecture of a parallel robot with six degrees of freedom and focuses on improving orientation accuracy of movable platform in mechanism, error correction and control methods. A set of formulations about inverse kinematics, Jacobin matrix, and forward kinematics for the high precision 6-HTRT parallel robots is presented. The analysis of errors existing in the manipulator is discussed and a novel approach for error correction is advanced. By DSP technique, inverse kinematics is solved in real time conditions with high precision and the hardware control system is given. The experimental results demonstrate the effectiveness of the proposed technique.
引用本文（GB/T 7714）
Lining Sun. Design considerations of high precision 6-HTRT parallel manipulator[J]. 哈尔滨工业大学学报：英文版, 2006.
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