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所属单位：机电学院
发表刊物：MECHANISM AND MACHINE THEORY
关键字：Forward kinematics Dual quaternion Parallel robot 8-UPS 8-PUS
摘要：The forward kinematics is the basis of the design and control of the parallel robots. This paper aims to provide an efficient solution to the forward kinematics of a class of six-degrees-of freedom parallel robots for real-time applications. With a unit dual quaternion used as the generalized coordinates of the robot system, the forward kinematic equations are derived to be a set of quadratic ones. An efficient algorithm is proposed to get the actual solution to them. The convergence and singularity problems of the new algorithm have been discussed. We have provided a convergence strategy and revealed the internal relation of the singularity with that of the parallel robot, proving the feasibility of the algorithm and giving the working condition in the practical applications. The new algorithm have been compared to the Newton's method for an 8 UPS parallel robot, resulting in the time consumptions of 0.2187 milliseconds and 14.25 milliseconds respectively. And then we perform a simulation of the state-feedback control for an 8-PUS parallel robot. The two examples present the applications of the new algorithm and demonstrate its validity and efficiency.
ISSN号：0094-114X
是否译文：否
发表时间：2017-01-01
合写作者：Yang, XiaoLong,李耀,陈柏
通讯作者：Yang, XiaoLong,吴洪涛