Forward kinematics analysis of parallel robots using global Newton-Raphson method

Chifu Yang, Qitao Huang, Peter O. Ogbobe, Junwei Han

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

16 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Pages407-410
Number of pages4
DOIs
StatePublished - 2009
Externally publishedYes
Event2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009 - Changsha, Hunan, China
Duration: 10 Oct 200911 Oct 2009

Publication series

Name2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Volume3

Conference

Conference2009 2nd International Conference on Intelligent Computing Technology and Automation, ICICTA 2009
Country/TerritoryChina
CityChangsha, Hunan
Period10/10/0911/10/09

Keywords

  • Global Newton-Raphson
  • Kinematics
  • Parallel robots

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