Rprp 3 Rpr

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]

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 ,[object Object],[object Object],[object Object],[object Object]

3RPR PLANAR PARALLEL MANIPULATOR

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]

Rprp 3 Rpr

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