An algorithm for real-time forward kinematics of 6-degree-of-freedom parallel mechanisms
Autor: | Changhong Gao, Shupeng Zheng, Dacheng Cong, Zhidong Yang |
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Rok vydání: | 2017 |
Předmět: |
0209 industrial biotechnology
Forward kinematics 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Inverse kinematics Control and Systems Engineering Computer science Real-time Control System Mechanical Engineering 02 engineering and technology Pose Algorithm |
Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 232:109-120 |
ISSN: | 2041-3041 0959-6518 |
Popis: | This article proposes a forward kinematics algorithm based on closed-loop feedback solution for real-time pose estimation of 6-degree-of-freedom parallel mechanisms. First, a feedback forward kinematics algorithm with second-order error dynamics built in joint space is presented and its convergence is analyzed. Taking a Stewart platform as an example, fast convergence and high solving accuracy of the algorithm are shown in simulation. However, while applying the algorithm to forward kinematics of a 6-degree-of-freedom redundantly actuated parallel mechanisms, solving errors will be growing slowly and non-convergent, which is caused by redundancy character of the parallel mechanisms. Then a modified algorithm, of which second-order error dynamics is built in Cartesian space, is developed. Considering velocity information is usually difficult to measure or estimate accurately in reality, the performance of feedback forward kinematics algorithm without joint velocity feedforward is also evaluated. Finally, the algorithm is implemented into real-time degree of freedom control of the redundant parallel mechanisms which is calibrated by a coordinate measuring machine. Experiment results show that the proposed algorithm can solve the pose with relatively high accuracy under static conditions and is effective and feasible for real-time pose estimation of parallel mechanisms. |
Databáze: | OpenAIRE |
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