Forward Kinematics Analysis of Parallel Robots Using Global Newton-Raphson Method

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… (More)

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