Titlebook: Parallel Robots; J. -P. Merlet Book 2006Latest edition Springer Science+Business Media B.V. 2006 algorithms.calibration.direct kinematics.

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Introduction,A rigid body in space can move in various ways, in translation or rotary motion. These are called its .. The total number of degrees of freedom of a rigid body in space cannot exceed 6 (for example three translatory motions along mutually orthogonal axes, and three rotary motions around these axis).

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Direct kinematics,n has a clear practical interest for the control of the pose of the manipulator, but also for the velocity control of the end-effector..Determining the pose of the end-effector from measurements of the minimal set of joint coordinates that are necessary for control purposes, is equivalent to solving

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Calibration,e previous sections has assumed a perfect knowledge of the values of structurally intrinsic parameters of the robot, an assumption that does not hold in practice. In this chapter we will focus on methods that allow one to improve the knowledge of the geometry of the actual robots.

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Design,ated in the Chapter .. Then we must determine the dimensions of the robot so that it complies as closely as possible with the performance needed for the task at hand. Indeed a direct result of the previous chapters is that the performance of a parallel robot is so dependent on its dimensions that a