Modular relative jacobian for combined 3-arm parallel manipulators

Rodrigo S. Jamisola*, Carlos Mastalli, Frank Ibikunle

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


This work presents a new formulation of a modular relative Jacobian used to control combined manipulators as a single manipulator with a single effector. In particular, this modular relative Jacobian is designed for 3-arm parallel manipulators. It is called a relative Jacobian because it is expressed relative to the reference frames at the manipulator end-effectors. It is modular because it uses the existing information of each standalone manipulator component to arrive at the necessary expressions for the combined system. This work is part of a series of studies to express a single end-effector control of combined manipulators, in parallel as well as other types of base configurations. This holistic approach of controlling combined manipulators affords a drastic increase of the null-space dimension and the convenience to use all the principles of controlling a single manipulator for the resulting combined system. Derivation of the modular relative Jacobian for a 3-arm parallel manipulator is shown, together will simulation results.
Original languageEnglish
Pages (from-to)90-95
Number of pages6
JournalInternational Journal of Mechanical Engineering and Robotics Research
Issue number2
Publication statusPublished - Apr 2016


  • 3-arm parallel manipulators
  • Modular kinematics
  • Relative jacobian
  • Single end-effector control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence


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