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Modular Relative Jacobian For Combined 3-Arm Parallel Manipulators
Modular Relative Jacobian For Combined 3-Arm Parallel Manipulators
0.3
0.1
0 0
0.1
0.2 20
0.3
0.4 40
0.5
60
5 10 15 20 25 30 35 40 5 10 15 20 25 30 35 40
Time (s) Time (s)
Fig. 4. The relative position error 23 p6 . Fig. 7. The robot A orientation error 1 2 .
2
Relative Orientation Error
3 6
Relative Position Error 2p
4
60
x x
y 0.5 y
z z
40 0.4
0.3
Orientation Error (deg)
20 0.2
Position Error (m)
0.1
0 0
0.1
20 0.2
0.3
40 0.4
0.5
60
5 10 15 20 25 30 35 40 5 10 15 20 25 30 35 40
Time (s) Time (s)
Fig. 5. The relative orientation error 23 6 . Fig. 8. The relative position error 2 p4 .
2
Robot A Position Error p2
1 Relative Orientation Error
4
60
x x
y y
0.5
z z
0.4 40
0.3
Orientation Error (deg)
0.2 20
Position Error (m)
0.1
0 0
0.1
0.2 20
0.3
0.4 40
0.5
60
5 10 15 20 25 30 35 40 5 10 15 20 25 30 35 40
Time (s) Time (s)
Fig. 6. The robot A position error 1 p2 . Fig. 9. The relative position error 2 4 .
150
q (6)
2 This work derived a modular relative Jacobian of a 3-
q (2)
4
q (4)
4
arm parallel manipulator, based on the dual-arm relative
q (6)
4
q (2)
Jacobian approach of computation. In this new expression,
100 6
Angle Error (deg)
q (4)
6 the Jacobian of the third manipulator always lie in the null
q (6)
6
of the the overall Jacobian. In addition, it was shown that
50
this approach affords a task prioritization control that is
effectively a single manipulator, and thus task prioritization
0
can be strictly implemented.
50
R EFERENCES