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RPRP SERIAL CHAIN MANIPULATOR 3RPR PLANAR PARALLEL MANIPULATOR Sumit Tripathi Saket Kansara
[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
RPRP GUI
USE OF HOMOGENEOUS TRANSFORMATION TO DRAW LINK POLYGONS ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
HOW DO WE APPLY CONTROL ?? ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
TASK SPACE CONTROL FOR TRACING CIRCLE ,[object Object],[object Object]
VARIATION OF RADIUS ,[object Object],[object Object]
TASK SPACE CONTROL FOR TRACING ELLIPSE ,[object Object],[object Object]
MANIPULATOR LIMIT REACHED !!! ,[object Object]
3RPR PARALLEL MANIPULATOR
3RPR PARALLEL MANIPULATOR ,[object Object],[object Object],[object Object],[object Object]
3RPR PLANAR PARALLEL MANIPULATOR
3RPR GUI
MANIPULATOR LIMIT REACHED
FORWARD KINEMATICS EQUATIONS ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
INVERSE KINEMATIC EQUATIONS ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
HOW TO DO TRAJECTORY TRACING ?? ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]
[object Object]

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Rprp 3 Rpr