A Techniques to Downgrade Objective Function in Parallel Robot Kinematics Problem

  title={A Techniques to Downgrade Objective Function in Parallel Robot Kinematics Problem},
  author={Trung Thanh Trang and Guang Wei Li and Long Thanh Pham},
  booktitle={ICRA 2015},
Quadratic functions and quaternary functions are preferable forms solving parallel robot kinematics problems. In order to simplify and to use only one method to solve all forms of the objective functions, this article introduces prevalent techniques to downgrade mathematical model of the objective functions from quaternary function to quadratic function in parallel robot kinematics problem. By using equivalent alternative kinematic structure and additional mathematical constraints, we will… 

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