{"title":"Real-Time Forward Kinematics Algorithm for Redundant Parallel Mechanism","authors":"Fujun Kou, Yiping Chen, Weiya Liu, Zhixue Liu","doi":"10.1109/icmeas54189.2021.00011","DOIUrl":null,"url":null,"abstract":"A kinematics-based degree-of-freedom control method for a redundant parallel mechanism is presented in this paper. The control accuracy of the redundant parallel mechanism depends on the accuracy of kinematics to a great extend. Generally the poor real-time performance of the forward kinematics would make the performance of the redundant parallel mechanism less accurate. A brand new kind of algorithm based on closed-loop real-time feedback is proposed to improve the accuracy and the real-time performance of the forward kinematics. The simulation results show that the proposed forward kinematics is capable of be applied to engineering practice.","PeriodicalId":374943,"journal":{"name":"2021 7th International Conference on Mechanical Engineering and Automation Science (ICMEAS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 7th International Conference on Mechanical Engineering and Automation Science (ICMEAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/icmeas54189.2021.00011","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
A kinematics-based degree-of-freedom control method for a redundant parallel mechanism is presented in this paper. The control accuracy of the redundant parallel mechanism depends on the accuracy of kinematics to a great extend. Generally the poor real-time performance of the forward kinematics would make the performance of the redundant parallel mechanism less accurate. A brand new kind of algorithm based on closed-loop real-time feedback is proposed to improve the accuracy and the real-time performance of the forward kinematics. The simulation results show that the proposed forward kinematics is capable of be applied to engineering practice.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
