Application of a Novel Elimination Algorithm with Developed Continuation Method for Nonlinear Forward Kinematics Solution of Modular Hybrid Manipulators

Rahmani, Arash; Faroughi, Shirko

doi:10.1017/s0263574719001747

Cited by 5 publications

(2 citation statements)

References 57 publications

(72 reference statements)

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“…Such a system of equations is inherent for many parallel mechanical systems, including the classical Gough-Stewart platform [23], and the determination of its solutions in an explicit form comes with significant computational difficulties. Many authors have proposed various algorithms for solving these equations based on the methods of dialytic elimination [24], homotopy continuation [25], Gröbner bases [26], interval analysis [27], and others [28,29]. The studies above showed that in general (in the case of an arbitrarily chosen geometry of the manipulator), the system can have 40 different solutions, both real and complex, and Husty [30] provided an algorithm to form a univariate polynomial of 40th degree that allows finding all the solutions.…”

Section: Forward Kinematicsmentioning

confidence: 99%

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

et al. 2021

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The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision of carriages when they move along the circular guide. This is achieved by using cranks (links that provide an unlimited rotational angle) in the manipulator kinematic chains. In this case, all drives stay fixed on the base. The kinematic analysis provides analytical relationships between the end-effector coordinates and six controlled movements in drives (driven coordinates). Examples demonstrate the implementation of the suggested algorithms. For the inverse kinematics, the solution is found given the position and orientation of the end-effector. For the forward kinematics, various assembly modes of the manipulator are obtained for the same given values of the driven coordinates. The study also discusses how to choose the links lengths to maximize the rotational capabilities of the end-effector and provides a calculation of such capabilities for the chosen manipulator design.

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Section: Forward Kinematicsmentioning

confidence: 99%

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

et al. 2021

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“…To solve the mapping relationship between the grid t i and the grid c j , starting from the kinematics of the manipulators, a relative transformation matrix [12] of each linkage of the manipulators in the standard D-H coordinates can be expressed as follows.…”

Section: B Mathematical Mapping Modelmentioning

confidence: 99%

Research on the Dynamic Path Planning of Manipulators Based on a Grid-Local Probability Road Map Method

et al. 2021

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A Grid-Local Probability Road Map (PRM) method was proposed for the path planning of manipulators in dynamic environments. Based on the idea of boundary discretization, a double-grid model was built to obtain a mapping from dynamic obstacles to configuration space. The collision detection was simplified as a data indexing process to improve its efficiency. Times of collision detections were reduced by employing local programming strategies and the stratified sampling method. Moreover, the validity of sampling was increased. Taking the PUMA560 manipulator as a research object, the simulation experiments show that the time consumption of the proposed simplified collision-detection algorithm is about 14% of that of the standard one, and the stratified sampling is beneficial to the generation of probability maps compared with simple random sampling method. The simulation experiment of the static path planning shows that the proposed algorithm consumes an average of 10ms, which is superior to the comparison algorithm and has high efficiency and real-time performance. The simulation experiment of the dynamic path planning shows that the proposed algorithm consumes an average of 7ms per step, which is better than the comparison algorithm. The proposed algorithm can adjust the global path in real time to avoid obstacles as the environment changes. The algorithm mentioned has been proved to be efficient.INDEX TERMS Dynamic environment, double grid model, probability road map, path planning.

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Kinematics analysis of a novel hybrid manipulator for optomechanical modules assembly

Wu,

Wang

et al. 2024

Fusion Engineering and Design

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Application of a Novel Elimination Algorithm with Developed Continuation Method for Nonlinear Forward Kinematics Solution of Modular Hybrid Manipulators

Cited by 5 publications

References 57 publications

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

Inverse and Forward Kinematic Analysis of a 6-DOF Parallel Manipulator Utilizing a Circular Guide

Research on the Dynamic Path Planning of Manipulators Based on a Grid-Local Probability Road Map Method

Kinematics analysis of a novel hybrid manipulator for optomechanical modules assembly

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