| Popis: |
Aiming at online implementation, a real-time algorithm for forward position kinematics of the parallel manipulators is proposed, in which the steepest decent direction of the solution iteration is constructed with Jacobian matrix, with the initial position for iteration arbitrarily chosen from the workspace. Under the condition of motion continuity of the end-effector, the unique forward position kinematics solution can be found out with this algorithm. Forward position kinematics case studies of spatial parallel manipulators were conducted, which show that the algorithm has the advantages of a high precision, little iteration and less millisecond-level time consumption. |
