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Direct kinematics of parallel manipulators

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 lEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 9, NO, 6, DECEMBER
d i 4 x i
Fig. 5. The resulting path in the xy-plane when the cart passes through a
corridor. The desired path is defined by the endpoints of the straight lines
and the circle segment.
. w 10 h U) o
30
Timet
.=l I I
0 10 20 30
Fig. 6 . Timeplots of the tangential velocity U and the angular velocity w
when the cart passes through a corridor.
sen to be equal to this angle, Od(x,, y,). Therefore, when the cart
amves in the neighborhood of p , and we switch to p L+ I as the new
point of attraction, the cart has already the desired orientation, i.e.,
CY = 0, and the arc of the circle from p I to p I+ becomes invariant.
From Fig. 6 we see that the tangential velocity v(t) is continuous
and obtains the desired values. The angular velocity w ( t ) is discon-
tinuous when the path changes between a circle and a straight line
as a result of the discontinuity in the curvature of such a path.
IV. CONCLUSION
A piecewise smooth controller has been presented for a mobile
robot with two degrees of freedom. The cart exponentially con-
verges to a position in the xy-plane with a desired orientation for
any initial condition. This is achieved by letting the motion of the
cart converge to one of the circles that pass through the origin and
are centered on the y axis in a local coordinate system. An exten-
sion to the case of following a path composed of straight lines and
arcs of circles has been proposed. This approach allows for stop-
ping and reversing phases. The degree of accuracy can be arbitrar-
1042-296X/93$03.OO 0 1993 IEEE
1993
- .
ilv chosen. Desired velocities at certain points along the path are
to be specified and can be 7ero. pohitive, or negative. Thercfore,
stopping and reversing phases can be included by specifying the
desired velocities accordingly. The convergence to the terminal
cohfiguration is exponential. Simulation results showed that the de-
sired path was followed and the desired velocities were achieved.
Different velocity profiles can be chosen by changing the structure
of the control law for the tangential velocity U. An extension to
other types of path segments than arcs of circles to have smoother
transitions between the path segments can be a topic for further
research.
REFERENCES
111 - .
_ .R. W. Brockett. “Asvmutotic stability and feedback stabilization,”
in Diferential Geometric Control Theory, R . W. Brockett, R. S.
Millman and H. J. Sussman, Eds. Boston: Birkhauser, 1983, pp.
181-208.
[2] C. Canudas de Wit and 0. J . Sordalen, “Exponential stabilization of
mobile robots with nonholonomic constraints,” IEEE Trans. Aufo-
mat. Cont., vol. 37, pp. 1791-1797, NOV.1992.
[3] G. Campion, B. d’Andrea-Novel, and G. Bastin, “Controllability and
state feedback stabilizability of nonholonomic mechanical systems, ”
in Advanced Robot Control, C. Canudas de Wit, Ed. New York:
Springer-Verlag, 1991, pp. 106-124.
[4] L. Dubins, “On curves of minimal length with a constraint on aver-
age curvature and with prescribed initial and terminal positions and
tangents,” Amer. J . Mathemat., vol. 79, pp. 497-516, 1957.
[ 5 ] Y. Kanayama and B. I. Hartman, “Smooth local path planning for
autonomous vehicles,” in Proc. ZEEE Con$ Robotics Automat.,
Scottsdale, AZ, May 1989, pp. 126551270,
[6] Y. Kanayama, V. Kimura, F. Miyazaki, and T. Noguchi, “A stable
tracking control method for an autonomous mobile robot,” in Proc.
IEEE Con$ Robotics Automat., Cincinnati, OH, 1990, pp. 384-389.
[7] J.-P. Laumond and T. Simeon, “Motion planning for a two degrees
of freedom mobile robot with towing,” in Proc. IEEE Int. Con$ Con-
trol Applicat., 1989.
[8] J . A. Reeds and L. A. Shepp, “Optimal paths for a car that goes both
forwards and backwards,” Pacific J . Mathemat., vol. 145, pp. 367-
393, 1990.
[9] C. Samson and K . Ait-Abdemahim, “Feedback control of a nonho-
lonomic wheeled cart in Cartesian space,” in Proc. IEEE Con$ Ro-
botics Automat., Sacramento, CA, Apr. 1991, pp. 1136-1141.
[lo] C. Samson, “Velocity and torque feedback control of a nonholo-
nomic cart,” in Advanced Robot Control, C. Canudas de Wit, Ed.
New York: Springer-Verlag, 1991, pp. 125-151.
[I I] 0. J . Sprdalen, “Feedback control of nonholonomic mobile robots,”
Ph.D. dissertation, ITK-rapport 1993:5-W, The Norwegian Instit.
Technol., Feb. 1993.
[I21 G . Walsh, D. Tilbury, S . Sastry, R. Murray, and J . P. Laumond,
“Stabilization of trajectories for systems with nonholonomic con-
straints,” in Proc. IEEE ConJ Robotics Automat., Nice, France, May
1992, pp. 1999-204.
Direct Kinematics of Parallel Manipulators
J.-P. Merlet
Abstract-The determinationof the direct kinematics of fully parallel
manipulators is in general a difficult problem but has to be solved for
any practical use. Various methods are presented to solve this prob-
lem: two kinds of iterative schemes, a reduced iterative scheme, and a
polynomial method. The computation time of these methods are com-
pared and their various advantages are shown.
Manucript received August 2, 1989; revised May 22, 1992.
The author is with the Centre de Sophia-Antipolis, INRIA, 06902 Sophia
Antipolis cedex, France.
IEEE Log Number 9212595.
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 9, NO. 6, DECEMBER 1993
Fig. 1. Principle of a parallel manipulator. Left: SSM. Right: TSSM
I. INTRODUCTION
A parallel manipulator is a robot where the links are all con-
nected both to the base and to a mobile plate through joints. In
each link a prismatic actuator makes it possible to change the link
length. Fig. 1 shows a sketch of two kinds of parallel manipulators.
The first one is called a SSM and has two hexagonal plates and the
second one, called the TSSM, is a simplification of the former with
a triangular mobile plate. Both are six-DOF manipulators with six
links (numbered from 1 to 6) articulated with a universal joint at
the A , points on the base and with ball-and-socket joints at the B,
points on the mobile plate.
The position of the mobile plate is defined by the position of a
point C in a reference frame (0, x , y , z ) attached to the base and
its orientation by the rotation matrix R relating the components of
a frame (x,, y,, z , ) attached to the mobile plate with respect to the
reference frame. One of the first practical use of these mechanisms
was for testing tires (see McGough [12]). Stewart [12] has then
highlighted the interest of this mechanical architecture for flight
simulators. One of the first designs for a robotics system is an as-
sembly cell due to Maccallion [6]. Some researchers have also
designed others prototypes: Fichter [I], Hunt [ 2 ] , Inoue [ 5 ] , Mo-
hamed [9], Reboulet [IO], Yang [ I l l , Zamanov [13]. This kind of
manipulator has a high positioning accuracy and high nominal load.
11. INVERSE A N D INVERSE
KINEMATICS JACOBIAN
MATRICES
The inverse kinematics problem is the determination of the links
lengths for a given position and onentation of the mobile plate. To
solve this problem we first calculate the vector A,B, by
AiB; = Ai0 + OC + CB;. (1)
In this equation Ai0 is defined by the design of the base and OC is
determined by the given position of the mobile plate. If we denote
by B,, the articulation point B, whose coordinates are expressed in
the mobile frame we have CB; = RCB,,. The vector CB,, is defined
by the design of the mobile plate and R by its orientation. Thus the
vector AiBi is fully determined by the design of the manipulator
and the position and orientation of the mobile plate. The links length
pI is then simply calculated by
We will denote by G the function such that p = G(OC, R ) , where
p is the vector of link lengths. Note that there is a one-to-one map-
ping between the positions of the mobile plate and the links lengths.
843
A3
The computation time of the inverse kinematics will be small, e.g.,
less than 1 . 1 ms on a 3-60 Sun workstation.
Suppose we choose the three Euler's angles ($, 0, 4) to define
the orientation of the mobile plate. Let X be defined as X = [x,,
yc, z, $, 8, 41, where x,, yc, zc are the coordinates of C in the
reference frame. From (2) we are able to define a matrix J,' such
that
The matrix J,' relates the links length variations to the variations
of the generalized coordinates and will be called the Euler's angles
inverse Jacobian. Note that this matrix is not the inverse Jacobian
of the manipulator in the sense that it does not relate the links ve-
locities to the linear and angular velocities of the manipulator. On
a 3-60 Sun workstation the computation time of the Euler's angles
inverse Jacobian is less than 5.58 ms.
Let J - ' be the matrix relating the velocities of the segments to
the linear and angular velocities of the mobile plate. We have
dOBi =
-
dt dt
+Q x CB,. (4)
If ni denotes the unit vector associated to link i we get
dpi -
dt dt '
dOB; AiB; - A;Bi
n.=-.-
dt
- - . ( y + Q X B i C .
pl pi
)
(5)
This equation enables us to calculate the matrix J - ' . On a 3-60
Sun workstation the computation time of the kinematic inverse Ja-
cobian is less than 1.65 ms. Note that for both matrices Je-' and
J - I , the calculation of the inverse is very difficult.
111. DIRECTKINEMATICS
Using the equations of the inverse kinematics the computation
of the control inputs for a given position and orientation is straight-
forward. However, the direct kinematics will also be involved in
most of the practical applications of parallel manipulators as, for
example, for the motion in an unknown environment (if the manip-
ulator is performing a surface following task it will bump into the
surface in an unknown position that has to be calculated from the
links lengths) or to determine all the possible configurations of the
mobile plate for a given set of links lengths (this problem will be
844 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 9, NO. 6 , DECEMBER 1993

called the design problem). Note that the direct kinematics involves apply a modified Newton scheme. By reducing the number of the
the resolution of a system of nonlinear equations whose solution unknowns we may hope to obtain a faster algorithm.
may be not unique. In most control problems time is crucial, es-
pecially for tasks involving force control because the stability of a C. Second Iterative Method
force-feedback control loop is deeply related to its sampling rate.
This method was described by Reboulet in [ 101. We may choose
In that case a fast procedure is needed but a good estimate of the
positions and orientations of the mobile plate is known (for ex- as orientation parameters for the mobile plate the rotation vector 9
ample, the previously determined position). The motion being con- with 9 = CYVwhere v is the unit vector of the rotation vector and
tinuous we have only to find the solution that is close to the esti- a is the rotation angle. If w is the angular velocity vector of the
mate (and not all the possible configurations, as in the the design mobile plate we have
problem). We present now different methods to solve the direct w = ci + sin av + (1 - cos a)v X U (12)
kinematics problem.
If OL is small:

A. First Iterative Method dO

w = dtv + CYV = -
dt
For manipulators like the SSM ( 2 ) constitutes a system of six
equations that can be written as Let us define X = [OC, %I as the generalized coordinates. We have
WL yC5z,, +, 0, 6) - P? = J ( L Y ~ z,,, 4, 0, d) = 0 (6) X = Jp. (14)
where p y denote the ith measured links lengths i -
[ l , 63. Let us We define now the iterative scheme as
define the following notation for a given position set (x:, y i , z:,
$ r , Or, 4') denoted as X':
Xk+I = X k + J [ p - G ( X k ) l . (15)
As in the first iterative method we assume that the Jacobian matrix
J is continuous all over the working area of the manipulator and
The classical Newton method for the resolution of this type of sys- that the initial estimate is close from the solution. Therefore the
tem yields to the following iterative scheme: scheme is modified to use a constant Jacobian matrix Jo:

xk+l = Xk - lax]
af(xk)
(G(X') - pm). (7)
where Jo is computed for the nominal position of the manipulator.
We can then notice that the matrix [df ( X k ) / a x ] - ' is the Euler's Reboulet shows in [lo] that this scheme will be convergent in all
angle Jacobian matrix J,. Thus the iterative scheme can be written the working area of its prototype. Compared to the previous method
as this scheme involves the additional calculation of the rotation ma-
trix R from %.
Xk+'= Xk - J,(G(Xk) - pm) (8)
with Xoequal to the estimate of the solution. The iterative process D. Polynomial Method
will end when the maximum of the absolute value of G(X') - pm The previous methods are convenient for finding the configura-
is less than a given threshold, usually the precision of the links tion of the mobile plate close from an estimated configuration.
lengths measurement. This scheme is not very convenient as a fast However, they are not able to find all the configuration for a given
algorithm. Indeed the matrix J, must be computed from its inverse set of links lengths, i.e., for the design problem. It is possible to
and this inversion is time consuming. Thus we assume that the show [7],[4] that for various architectures with a triangular mobile
matrix J, is continuous in the vicinity of the solution and that the plate the direct kinematics problem can be reduced to the resolution
estimate is close from the solution. In that case a constant Jacobian
of a sixteenth-order polynomial (with a special case for the TSSM
matrix is used at each iteration: this is the modified Newton for which it can be further reduced to a eighth-order polynomial).
scheme. This iterative scheme can be written as A numerical resolution has shown that there can be effectively up
Xk+l= x' - J : ( G ( X k ) - pm). (9) to 16 different solutions [7]. For the more general case of the SSM
a similar polynomial can be obtained [8] but its order is 352 (al-
though we have found only up to 12 different solutions).
B. Reduced Iterative Scheme
From (2) we deduce IV. COMPUTATION
TIME
pf = I)AiO1I2 + (1 OC)12+ )I CBjrII2+ 2RCBi,AjOT We will now compare the computation time of the various direct
kinematics methods for a TSSM. The position of the articulation
+ 2OC(AiOT + CBiTRT) (10) points are given in Table I and the test values are given in Table
11. The Jacobian matrices are estimated at (0, 0, 40, 0, 0, 0) for
and for i # j :
the kinematics Jacobian, (0, 0, 40, 0, 12, 0) for the Euler's angle
p: - p,' = IIAiOII' - IIAjOI12 + II C B J 2 - II CBjrII' Jacobian matrix, and the admissible errors on the links lengths is
0.01 cm.
+ 2OC(AiA{ + BjB:RT) The following methods have been tested: iterative method with
kinematics Jacobian ( l ) , iterative method with Euler's angles Ja-
+ 2(RCB;,AiOT RCB,,A,OT)
- (1 1)
cobian matrix (2), reduced iterative method (3), polynomial method
which is linear in terms of xc, yc, zc. Using three of these equations (4). The computing times are given in Table 111.
we may find x,, yc, z, as a function of the orientation. Reporting According to these results the iterative method with the kine-
these values in (2) yields three nonlinear equations to which we matic Jacobian matrix seems to be the best real-time method, al-
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. VOL. 9, NO. 6, DECEMBER 1993 845

TABLE I
POSITION
OF THE ARTICULATION
POINTS

Articulation x, Yo za xh Yh zh
~ ~~ ~

1 9.700 9.100 0.0 0.0 7.300 0.0

2 12.760 3.900 0.0 0.0 7.300 0.0
3 3.0 -13.0 0.0 4.822 -5.480722 0.0
4 -3.0 -13.0 0.0 4.822 -5.480722 0.0
5 -12.760 3.900 0.0 -4.822 -5.480722 0.0
6 -9.700 9.100 0.0 -4.822 -5.480722

TABLE I1
TESTVALUES

Test
Number 0 1 2 3 4 5

real values
3 , 3 , 40 3, 3, 40 3, 3 , 4 0 3, 3, 40 4, -5, 47 2 , -2, 46

estimation
2 . 9 , 2 . 9 , 39.9 0, 0 , 4 0 2.95,2.95, 39.95 0 , 0, 45 0, 0, 45 0, 0 , 4 5
(XC> Yc, z,)
($,e,+) 0.5,-0.5,0.5 o,o,o o.i,-o.i,o.i o,o,o o,o,o 0 , 0, 0

TABLE 111
COMPUTATION TIMEOF THE VARIOUS DIRECTKINEMATICS METHODS ON A
SUN 3-60 WORKSTATION. A DASHINDICATES THAT THE SCHEME WAS
NOT CONVERGENT

Test Number
0 1 2 3 4 5
Method

1 9.3 8.4 6.5 13.83 24.83 17.5

2 7.33 9.5 4.9 10.17 - -
3 227 3.83 12.83 3.83 - -
4 183.49 182.3 186.49 187.99 156.83 151.99

though it is slower than the iterative method with the Euler’s angles
Jacobian matrix, its convergence domain seems to be larger. This
is probably due to the fact that the matrix J;’ is singular for 0 =
0 and therefore J : has to be calculated for an orientation that is
close to the boundary of the workspace of the manipulator and
therefore, far from the most usual position. In contrast, we have
never experienced a failure of the convergence for the second it-
erative scheme regardless of the prototype used.
The reduced iterative scheme is poorly convergent as soon as the
estimate of the orientation angle is not exact. This method should
be used only if the orientation angles are perfectly known, in which
case it will be the fastest method.
The polynomial method is the slowest method (the computation
time of the coefficients of the polynomial is approximatively equal
to the overall computation time of the others methods and then we
have to compute the solutions of a sixteenth-order polynomial and
sort the correct solution). It can be used only for the design prob-
lem for which the speed of the algorithm is less important.
V . CONCLUSION
We have exhibited various methods to solve the direct kinemat-
ics problem: all are numerical methods with a rather reasonable
computing time (that shall be decreased by means of specialized
circuits or parallel computing). Only one gives all the possible con-
figurations of the mobile plate, although a numerical method has
to be used to find the solution of a polynomial.
REFERENCES
E. F. Fichter, “Stewart platform based manipulator: General theory
and practical construction,” Int. J . Robotics Res., vol. 5 , no. 2, pp.
157- 181.
K. H . Hunt, Kinematics Geometry of Mechanisms. Oxford: Clar-
endon.
-, “Structural kinematics of in parallel actuated robot arms,”
Trans. ASME, J. Mechanisms, Transmissions, Automat. Design, vol.
105, pp. 705-712.
C. Innocent and V. Parenti-Castelli, “Direct position analysis of the
Stewart platform mechanism,” Mechanism Machine Theory, vol. 25,
no. 6, pp. 611-621, 1990.
H. Inoue, Y. Tsusaka, and T. Fukuizumi, “Parallel manipulator,”
in Proc. 3lh ISRR, Gouvieux, France, Oct. 7-11, 1985.
H. Mac Callion, and D. T. Pham, “The analysis of a six degree of
freedom work station for mechanized assembly,” in Proc. 5th World
Congress Theory Machines Mechanisms, Montreal, Canada, July
1979.
J. P. Merlet, “Manipulateurs parallkles, 4eme partie: Mode d’assem-
blage et cinkmatique directe sous forme polynomiale,” INRIA Res.
Rep., no. 1135, Dec. 1989.
-, “An algorithm for the forward kinematics of general 6 d.0.f.
parallel manipulators,” INRIA Res. Rep. 1331, Nov. 1990.
M. G. Mohamed and J. Duffy, “A direct determination of the instan-
taneous kinematics of fully parallel robot manipulators,” Trans.
ASME, J. Mechanisms, Transmissions, Automar. Design, vol. 107,
pp. 226-229.
C. Reboulet, “Robot paralltles,” in Technique de la Robotique.
Paris: Hermes, 1988.
D. C. H. Yang and T. W. Lee, “Feasibility study of a platform type
of robotic manipulator from a kinematic viewpoint,” Trans. ASME,
J . Mechanisms, Trunsmissions, Automat. Design, vol. 106, pp. 191-
198, June 1984.
 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. VOL. 9. NO. 6, DECEMBER 1993

D. Stewart, “A platform with 6 degrees of freedom,” Proc. Instit.

Mechanicaf E n g . , 1965-1966, vol. 180, part 1, number 15, pp. 371-
386.
U. B. Zamanov and 2. M. Sotirov, “Structures and kinematics of
parallel topology manipulating systems,” in Proc. Inr. Synzp. Design
Synrhesis, Tokyo, Japan, July 11-13, 1984, pp. 453-458.

On the Inertia Duality of Parallel-Series Connections

of Two Robots in Operational Space
Yuan F. Zheng and J. Y. S . Luh Fig. 1. The SRL multilimbed robot

Abstract-The inertias of the parallel and serial connections of two

robots in the operational space are studied in this paper. First, it is
reviewed that the symmetry between the velocity and force in a robotic
chain results in velocity-force duality of the parallel and serial connec-
tions. The possible duality in the operational inertia matrix is then in-
vestigated. From the dynamic equations of the two connections, it is
Bracing Point F
found that there does not exist a real duality in the operational inertia
matrix. However, the real duality becomes possible when the coupling
effects between the two robots are negligible. This conditional duality
is called “quasi-duality” in this paper. As a result of this study, the
duality behaviors of the two connections in velocity, force and inertia
are completely obtained.

I. INTRODUCTION
Coordinating two or more industrial robots to enhance robot ca-
pability has recently received research attention [I]-[7]. Most
works have concentrated on coordinating multiple robots in han-
dling a large object, such as those in [I]-[7]. When two or more
robots hold a common object, the robots are configured in a parallel
connection.
Two robots are connected in serial if the base of one robot is
held by the end-effector of the other robot. In reality, serial con-
nections of multiple robots are involved in the so-called macro-
micro manipulator systems. In these systems, a macro-manipulator
holds a micro-manipulator, and the micro-manipulator is respon-
sible for interacting with the environments. The literature [8]-[IO]
discusses the use of macro-micro systems.
Some robotic systems have both parallel and serial connections.
One typical example is multilimbed walking robot, as shown in
Fig. 1. The robot has an arm installed on its platform that is sup-
ported by multiple legs that are connected in parallel. The connec-
tion between the platform and the arm is serial. Another robotic
system that has the combination of both the connections is the brac-
ing structure that was studied by Book et al. [ 111. In such a struc-
ture, an arm is rigidized by bracing against an auxiliary structure.
Subsequent motion of the system only involves the upper part of
the arm, which is above the bracing point (Fig. 2). In such a struc-
ture the portion below the bracing point has a parallel connection
and the portion above the bracing point has a serial connection.
Manuscript received June 8, 1992; revised May 8, 1993. This work was
supported in part by the Office of Naval Research under Grant N00014-90-
J-15 16, by the National Science Foundation under Grants DMC-8620409
and DDM-8996238, and by the Jet Propulsion Laboratory under Contract
958 150.
Y. F. Zheng is with the Department of Electrical Engineering, The Ohio
State University, Columbus, OH 43210.
J. Y . S . Luh is with the Department of Electrical and Computer Engi-
neering, Clemson University, Clemson, SC 29634.
IEEE Log Number 9212598.
Fig. 2. A bracing structure has both parallel and serial connections.
A comparison study of kinematic and dynamic behaviors of the
parallel and serial connections was studied by Khatib using an ar-
gumented object approach [lo], [12], [13]. By using this approach,
a multieffector/object system was treated as an augmented object
representing the total masses and inertia perceived at some opera-
tional point. The effective inertia of the augmented object was rep-
resented by a kinetic energy matrix. By studying the kinetic energy
matrix, Khatib concluded that the effective inertia of a macro/
micro-manipulator that was equivalent to a serial connection was
reduced. In a parallel connection, on the other hand, the effective
inertia was increased or equivalently, the mobility was reduced.
These kinematic and dynamic behaviors were also studied by Lee
and Kim [14], [I51 and by Chen and Kumar [16]. Similar conclu-
sions by Khatib were obtained by these studies.
The work by Waldron and Hunt [ 171 reveals that in a serial chain
of manipulators there is a deep symmetry between force and motion
when decomposing the end-effector velocity of a manipulator into
joint rates and, conversely, decomposing a static force applied to
the end-effector in the same position into joint torques. Mathemat-
ically, this symmetry can be expressed as the following two equa-
tions:
X = Jq (1)
and
where Xdenotes the velocity of the end-effector, q denotes the joint
rates, F denotes the static force applied to the end-effector, r de-
notes the joint torques, and J is the Jacobian matrix of the manip-
ulator. By analyzing the force and velocity of a parallel chains of

1042-296X/93$03.000 1993 IEEE

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