A comparisison of some numerical methods for computing the inverse kinematics of redundant parallel robots

Tuấn Anh Lương, Khang Văn Nguyễn

Abstract


This paper presents a comparison of three numerical methods for computing the inverse kinematics of redundant parallel robots: the improved Newton-Raphson method, the coordinate and velocity projection method and the method using the ‘fsolve’ command in Matlab. The results obtained by these methods for computing the inverse kinematic problem of the planar redundant parallel robot 3RRRP show that the improved Newton-Raphson method has advantages of high accuracy and calculating faster time over the others.


Keywords


inverse kinematics, redundant parallel robots, projection method, improved Newton-Raphson method.

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Journal of Computer Science and Cybernetics ISSN: 1813-9663

Published by Vietnam Academy of Science and Technology