Abstract
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.
| Original language | English |
|---|---|
| Journal | IEEE Robotics and Automation Letters |
| Volume | 8 |
| Issue number | 2 |
| Pages (from-to) | 997-1004 |
| Number of pages | 8 |
| ISSN | 2377-3766 |
| DOIs | |
| Publication status | Published - 1 Feb 2023 |
Bibliographical note
Publisher Copyright:© 2022 IEEE.
Keywords
- Jacobian of pointing
- Kinematics
- non-orthogonal frame
- parallel pointing mechanisms
- spherical parallel manipulators