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Forward and inverse kinematics operations are important in the operational space control of mechanical manipulators. In case of a parallel manipulator, the forward kinematics function relates the joint variables of the active joints to the position of end-effector. This paper finds analytically forward kinematics function by exploiting the position-closure property. Using the proposed function along with the analytical Jacobian presented in the literature, the forward and the inverse kinematics blocks are formulated for a prospective operational space control scheme. Finally, an example is presented for a 3-RP R robot.

ANALYTICAL KINEMATICS FRAMEWORK FOR THE CONTROL OF A PARALLEL MANIPULATOR - A Generalized Kinematics Framework for Parallel Manipulators