Real-Time Forward Kinematics Algorithm for Redundant Parallel Mechanism

Abstract

A kinematics-based degree-of-freedom control method for a redundant parallel mechanism is presented in this paper. The control accuracy of the redundant parallel mechanism depends on the accuracy of kinematics to a great extend. Generally the poor real-time performance of the forward kinematics would make the performance of the redundant parallel mechanism less accurate. A brand new kind of algorithm based on closed-loop real-time feedback is proposed to improve the accuracy and the real-time performance of the forward kinematics. The simulation results show that the proposed forward kinematics is capable of be applied to engineering practice.