TY - JOUR
T1 - Non-Orthogonal Moving Frame for the Kinematics of Parallel Pointing Mechanisms
AU - Bai, Shaoping
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2023/2/1
Y1 - 2023/2/1
N2 - A non-orthogonal frame is proposed in this work as an alternative representation of moving frames, which can describe naturally and conveniently orientations of the mobile platform of parallel pointing mechanisms. Fundamentals of non-orthogonal bases are presented, upon which a non-orthogonal frame is established utilizing two body-attached vectors and their bivector. Properties of the non-orthogonal frame are analyzed geometrically and algebraically. With the alternative representation, we revisit the kinematics of parallel pointing mechanisms. Efficient and robust kinematic formulations are obtained and demonstrated with examples.
AB - A non-orthogonal frame is proposed in this work as an alternative representation of moving frames, which can describe naturally and conveniently orientations of the mobile platform of parallel pointing mechanisms. Fundamentals of non-orthogonal bases are presented, upon which a non-orthogonal frame is established utilizing two body-attached vectors and their bivector. Properties of the non-orthogonal frame are analyzed geometrically and algebraically. With the alternative representation, we revisit the kinematics of parallel pointing mechanisms. Efficient and robust kinematic formulations are obtained and demonstrated with examples.
KW - Jacobian of pointing
KW - Kinematics
KW - non-orthogonal frame
KW - parallel pointing mechanisms
KW - spherical parallel manipulators
UR - http://www.scopus.com/inward/record.url?scp=85147310730&partnerID=8YFLogxK
U2 - 10.1109/LRA.2023.3235192
DO - 10.1109/LRA.2023.3235192
M3 - Journal article
AN - SCOPUS:85147310730
SN - 2377-3766
VL - 8
SP - 997
EP - 1004
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
ER -