Abstract

In this paper, we investigate how to use the extra sensor(s) information in a parallel manipulator to obtain a more accurate estimate of the end- effector position. We propose the problem of optimal forward kinematics map for parallel manipulators with sensor redundancy. A parallel manipulator is said to have the property of sensors redundancy if the number of sensors in the system is greater than its degree-of-freedom. For a particular 2-dof over-actuated parallel manipulators, we show how to compute different forward kinematics maps based on different sets of angle sensors. Then, we propose an algorithm for computing a near optimal forward kinematics map for practical implementation. Simulation results show that the computed near optimal forward kinematics map is more accurate than the other forward kinematics maps.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.