Closed-form forward kinematics solutions of a 4-DOF parallel robot
Closed-form forward kinematics solutions of a 4-DOF parallel robot
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DOI：
10.1007/s12555-009-0520-1
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发表时间：
2009-10
期刊：
影响因子：
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通讯作者：
Hee-Byoung Choi;A. Konno;M. Uchiyama
中科院分区：
文献类型：
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作者：
Hee-Byoung Choi;A. Konno;M. Uchiyama
众所周知，并联机器人的正运动学问题是一个非常困难的问题。封闭形式的正向运动学解决方案已被报道，只有少数特殊类别的并联机器人。本文给出了一种四自由度并联机器人H4的正运动学封闭解。推导了一个单变量的16阶多项式来求解H4的正运动学。多项式的16个根导致最多16个不同的正向运动学解。最后给出了数值验证。
It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.