Abstract
Aiming at online implementation, a real-time algorithm for forward position kinematics of the parallel manipulators is proposed, in which the steepest decent direction of the solution iteration is constructed with Jacobian matrix, with the initial position for iteration arbitrarily chosen from the workspace. Under the condition of motion continuity of the end-effector, the unique forward position kinematics solution can be found out with this algorithm. Forward position kinematics case studies of spatial parallel manipulators were conducted, which show that the algorithm has the advantages of a high precision, little iteration and less millisecond-level time consumption.
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 callDisclaimer: 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.
