INVERSE GEOMETRIC MODEL FOR ROBOTS WITH C HAINS THAT CAN BE DECOUPLED, APPLICATION TO CLOSED-LOOP CONSTRAINT EQUATIONS

This paper presents a simple and systematic method for calculating the inverse geometric model for the types of structures surveyed by Piepe r [1] (robots with six degrees of freedom from which three are circula r or prismatic shaped). These structures, totaling 52, are characteriz ed by the possibility of decoupling the problem of solving the six var iables non-linear equations in two problems of three variables each: p osition and orientation. The method is used to obtain the inverse geom etric model from two tensorial relations for structures that can be de coupled. Finally, we present an application of this method for solving the constraint equations of simple closed loops.