Closed-form forward kinematics solutions of a 4-DOF parallel robot

被引：0
作者：
Hee-Byoung Choi
Atsushi Konno
Masaru Uchiyama
机构：
[1] Sungkyunkwan University,Intelligent Systems Research Center
[2] Tohoku University,Department of Aerospace Engineering
来源：
International Journal of Control, Automation and Systems | 2009年 / 7卷
关键词：
Closed-form solutions; forward kinematics; 4-DOF parallel robot;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.
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页码：858 / 864
页数：6
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