control (CNC) machine. First, the structure of the robot is introduced and inverse kinematics solution is presented. Secondly, stiffness matrix of the robot is determined using a continuous method based on Castigliano’s theorem and calculation of strain...

This paper presents a new approach to online solution of inverse kinematics problem based on nonlinear optimization for robots with joints physical constraints. The inverse kinematics problem is stated as a constrained nonlinear optimization problem...

This paper presents the direct and inverse kinematics

solutions for a 3-DOF special 3-PSP parallel

manipulator. The 3-PSP mechanism consists of two

rigid bodies, a movable platform (formed like a star)

and a fixed base...

, 2009, pp. 663–676) with symmetrical geometry is investigated. At first, the 3-RRP SPM is introduced and its inverse kinematics analysis is performed. Isotropic design, because of its design superiority, is selected and workspace of the manipulator...