Abstract

For parallel robot systems, due to limitations in direction angle, to calculate kinematic problem using the usual method, we have to convert from 2 angles - azimuth and elevation to 3 angles - roll, pitch, yaw. The solution to this conversion problem is the arcsin and arccos functions, making the kinematic problem more complicated, especially research problems on dynamics. This article proposes a simple solution for solving kinematic problem of 6-degree-of-freedom parallel systems applied in azimuth and elevation observation systems (AEOS) by using virtual coordinate systems, helping to minimize system calculation parameters and bring convenience for future control problems. Research results are calculated, simulated, and tested on Matlab.