A Decoupling Method for Successive Robot Rotation Based on Time Domain Instantaneous Euler Angle
Xin Zhou,
Jianxu Zhu
Abstract:In the present study, a novel time domain decoupling method was proposed for the multiple successive rotations of different kinds of robots. This is achieved through the utilization of instantaneous Euler angles. For a general parallel mechanism, the Plücker coordinates of the intersection line of the before and after rotation plane are determined through the reciprocal product principle of screw theory. Additionally, the angle between these two rotation planes is defined as the instantaneous Euler angle. The … Show more
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