TY - GEN
T1 - Forward kinematics analysis of parallel robots using global Newton-Raphson method
AU - Yang, Chifu
AU - Huang, Qitao
AU - Ogbobe, Peter O.
AU - Han, Junwei
PY - 2009
Y1 - 2009
N2 - A new method, Global Newton-Raphson (GNR), for forward kinematics analysis of six degree-of-freedom (DOF) parallel robots is proposed, in order to obtain direct solutions of parallel robots in real time without divergence. The parallel robot can produce 3-DOF linear motions and 3-DOF angular motions, and feeds back positions of actuators measured by position sensors in real time. The GNR for the robot is built by Taylor series expansion and Newton-Raphson iteration with descent operator. Applying the GNR, the real generalized pose of moving platform is solved with respect to the base for a set of given positions of actuators. Accuracy and real time property of the GNR for the 6-DOF parallel robot are analyzed. The theoretical analysis indicated that the presented method can achieve the numerical convergent solution in real time with high accuracy, even the initial guesses are far from a solution.
AB - A new method, Global Newton-Raphson (GNR), for forward kinematics analysis of six degree-of-freedom (DOF) parallel robots is proposed, in order to obtain direct solutions of parallel robots in real time without divergence. The parallel robot can produce 3-DOF linear motions and 3-DOF angular motions, and feeds back positions of actuators measured by position sensors in real time. The GNR for the robot is built by Taylor series expansion and Newton-Raphson iteration with descent operator. Applying the GNR, the real generalized pose of moving platform is solved with respect to the base for a set of given positions of actuators. Accuracy and real time property of the GNR for the 6-DOF parallel robot are analyzed. The theoretical analysis indicated that the presented method can achieve the numerical convergent solution in real time with high accuracy, even the initial guesses are far from a solution.
KW - Global Newton-Raphson
KW - Kinematics
KW - Parallel robots
UR - http://www.scopus.com/inward/record.url?scp=72049087501&partnerID=8YFLogxK
U2 - 10.1109/ICICTA.2009.564
DO - 10.1109/ICICTA.2009.564
M3 - 会议稿件
AN - SCOPUS:72049087501
SN - 9780769538044
T3 - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
SP - 407
EP - 410
BT - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
T2 - 2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Y2 - 10 October 2009 through 11 October 2009
ER -