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

Tuấn Anh Lương, Khang Văn Nguyễn
Author affiliations

Authors

  • Tuấn Anh Lương Thainguyen University of Technology
  • Khang Văn Nguyễn Hanoi University of Science and Technology

DOI:

https://doi.org/10.15625/1813-9663/29/1/2743

Keywords:

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

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.

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Published

28-03-2013

How to Cite

[1]
T. A. Lương and K. V. Nguyễn, “A comparisison of some numerical methods for computing the inverse kinematics of redundant parallel robots”, JCC, vol. 29, no. 1, pp. 3–16, Mar. 2013.

Issue

Section

Cybernetics