Numerical Methods for Computing the Forward Kinematics of a Redundant Parallel Manipulator

@inproceedings{Sadjadian2003NumericalMF,
  title={Numerical Methods for Computing the Forward Kinematics of a Redundant Parallel Manipulator},
  author={H. Sadjadian and Hamid D. Taghirad},
  year={2003}
}
In this paper, different approaches are presented to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator. It is shown, that on the contrary to series manipulators, the forward kinematic map of the parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using mainly numerical computations, with different ideas to solve the problem. These methods are compared in detail… CONTINUE READING
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