Forward kinematics analysis of parallel manipulator using modified global Newton-Raphson method

Journal of Central South University of Technology (English Edition)

Volumn 17, Issue 6, 2010, Pages 1264-1270

  Yang, Chi Fu ^a   Zheng, Shu Tao ^a   Jin, Jun ^a   Zhu, Si Bin ^a   Han, Jun Wei ^a  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

Author keywords

Forward kinematics; Global Newton Raphson; Parallel manipulator; Real time system

Indexed keywords

ANALYTICAL APPROACH; ANGULAR MOTIONS; CONVERGENT SOLUTIONS; DIRECT SOLUTION; FORWARD KINEMATICS; FORWARD KINEMATICS ANALYSIS; GEOMETRICAL FRAMES; GLOBAL NEWTON-RAPHSON; INITIAL GUESS; LINEAR MOTION; MATLAB /SIMULINK; MICROSOFT; MODIFIED GLOBAL; MOVING PLATFORM; NEWTON RAPHSON ITERATION; NEWTON-RAPHSON; NUMERICAL RESULTS; PARALLEL MANIPULATOR; PARALLEL MANIPULATORS; REAL TIME; REAL-TIME COMPUTER; SIX-DEGREE-OF-FREEDOM; VISUALSTUDIO.NET;

ALGORITHMS; KINEMATICS; NEWTON-RAPHSON METHOD; NONLINEAR EQUATIONS; NUMERICAL METHODS; REAL TIME SYSTEMS;

MANIPULATORS;

EID: 84863011681     PISSN: 10059784     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11771-010-0630-1     Document Type: Article

References (20)

1. MERLET J P. Parallel manipulator [M]. Norwell, MA: Kluwer Academic Publishers, 2000: 6-12.
2. CHIN J H, SUN Y H, CHENG Y M. Force computation and continuous path tracking for hydraulic parallel manipulators [J]. Control Engineering Practice, 2008, 16(6): 697-709.
3. HE Qing-hua, HE Xiang-yu, ZHU Jian-xin. Fault detection of excavator's hydraulic system based on dynamic principal component analysis [J]. Journal of Central South University of Technology, 2008, 15(5): 700-705.
4. BANDE P, SEIBT M, UHLMANN E, SAHA S K, RAO P V M. Kinematics analysis of Dodekapod [J]. Mechanism and Machine Theory, 2005, 40(6): 740-756.
5. JAIME G A, JOSE M R M, GURSEL A. Kinematics and singularity analyses of a 4-DOF parallel manipulator using screw theory [J]. Mechanism and Machine Theory, 2006, 41(9): 1048-1061.
6. PETUYA V, GUTIERREZ J M, ALONSO A, ALTUZARRA O, HERNANDEZ A. A numerical procedure to solve non-linear kinematic problems in spatial mechanism [J]. International Journal for Numerical Methods in Engineering, 2008, 73(6): 825-843. (Pubitemid 351298055)
7. JIN Y, CHEN I M, YANG G L. Kinematic design of a 6-DOF parallel manipulator with decoupled translation and rotation [J]. IEEE Transactions on Robotics, 2006, 22(3): 545-551. (Pubitemid 43898874)
8. BARON L, ANGELES J. The direct kinematics of parallel manipulator under join-sensor redundancy [J]. IEEE Transactions on Robotics and Automation, 2000, 16(1): 12-19. (Pubitemid 30593792)
9. LEE T Y, SHIM J K. Improved dialytic elimination algorithms for the forward kinematics of the general Stewart-Gough platform [J]. Mechanism and Machine Theory, 2003, 38(6): 563-577.
10. SELFRIDGE R G, MATTHEW G K. Forward analysis of some special Stewart platforms [J]. Journal of Robotic System, 2000, 17(10): 517-526.
11. RAGHAVAN M. The Stewart platform of general geometry has 40 configurations [J]. ASME Journal of Mechanical Design, 1993, 115(2): 227-282.
12. KAMRA R, KOHLI D, DHINGRA A K. Forward displacement analysis of a six-DOF parallel manipulator actuated by 3R3P and 4R2P chains [J]. Mechanism and Machine Theory, 2002, 37(6): 619-637. (Pubitemid 34544421)
13. DIDRIT O, PETITOT M, WALTER E. Guaranteed solution of direct kinematic problems for general configuration of parallel manipulator [J]. IEEE Transactions on Robotics and Automation, 1998, 14(2): 259-265.
14. MERLET J P. Solving the forward kinematics of a Gough-type parallel manipulator with interval analysis [J]. International Journal of Robotics Research, 2004, 23(3): 221-235.
15. JI Ping, WU Hong-tao. A closed-form forward kinematics solution for the 6-6P Stewart platform [J]. IEEE Transactions on Robotics and Automation, 2001, 17(4): 522-526. (Pubitemid 33048339)
16. QUARTERONI A, SACCO R, SALERI F. Numerical mathematics [M]. Berlin: Springer, 2000: 80-87.
17. KELLEY C T. Solving nonlinear equations with Newton's method [M]. Philadelphia: SIAM, 2003: 158-165.
18. PARIKH P J, LAM S S Y. A hybrid strategy to solve the forward kinematics problem in parallel manipulators [J]. IEEE Transactions on Robotics, 2005, 21(1): 18-25. (Pubitemid 40274451)
19. ROCCO V, VINCENZO P C. Accurate and fast body pose estimation by three point position data [J]. Mechanism and Machine Theory, 2007, 42(9): 1170-1183.
20. KIM H S, CHO Y M, LEE K. Robust nonlinear task space control for 6 DOF parallel manipulator [J]. Automatic, 2005, 41(9): 1591-1600. (Pubitemid 41000127)