A fast solution to identify placement parameters for modular platform manipulators

Abstract

Ji and Li presented a method to identify placement parameters for a six-leg platform manipulator [Z. Ji and Z. Li, J Robot Syst 16 (1999), 227–236]. They used Sylvester's dialytic elimination to reduce the identification equations to a univariable polynomial with 16 degrees. This article presents a fast and simple solution to the same problem. The complex function is used to simplify the identification equations, and a univariable polynomial equation is obtained with 8 degrees only. © 2000 John Wiley & Sons, Inc.