Design, Placement, and Control of Platform Manipulators

9522840 Ji An integrated study for the design, placement, and control of platform, manipulators is carried out. The concept of vertex space approach is extended to architectures of platform manipulators other than the Stewart type. The effects of dimensions on vertex spaces and workspaces are analyzed. A variety of placement strategies are considered and optimization techniques are developed. An operational space control system is designed that bypasses the complex forward kinematics with passive joint sensing. An experiment platform manipulator is built to verify and enhance the analytical study and graphic simulation. The research results provide a rational tool for synthesis, placement optimization, and operational space control of platform manipulators.***