Abstract

The effect of uncertainties in design parameters and error in measurement on the Jacobian matrix and its null space basis of wire-actuated parallel manipulators is investigated to ensure positive wire tension. The minimum 2-norm non-negative solution for the vector of wire tensions is calculated utilizing the perturbed and the interval forms of Jacobian matrix. A planar manipulator is simulated to investigate the implementation and effectiveness of these two methodologies while relating their results.

Full Text
Paper version not known

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call