Abstract: This paper presents a general approach to the kinematics of an orientation motion platform utilizing a sphere actuated by omnidirectional wheels. The number and type of the omnidirectional wheels, ...

Abstract: A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for ...

Abstract: A practical solution procedure for the forward kinematics problem of a fully-parallel planar three-legged platform with holonomic higher pairs is presented. Kinematic mapping is used to represent ...