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

This paper addresses the application of a novel elimination algorithm with a newly developed homotopy continuation method (HCM) for forward kinematics of a specific hybrid modular manipulator known as n-(6UPS). First, the kinematic model of n-(6UPS) was extracted using a homogenous transformation ma...

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Bibliographic Details
Published in:Robotica Vol. 38; no. 11; pp. 1963 - 1983
Main Authors: Rahmani, Arash, Faroughi, Shirko
Format: Journal Article
Language:English
Published: Cambridge, UK Cambridge University Press 01.11.2020
Subjects:
Algorithms
Continuation methods
Kinematics
Mathematical models
Polynomials
New homotopy continuation method
Forward kinematics
Hybrid manipulator
Experimental data
Nonlinear system
ISSN:0263-5747, 1469-8668
Online Access:Get full text
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Summary:This paper addresses the application of a novel elimination algorithm with a newly developed homotopy continuation method (HCM) for forward kinematics of a specific hybrid modular manipulator known as n-(6UPS). First, the kinematic model of n-(6UPS) was extracted using a homogenous transformation matrix method. Then, a novel algebraic elimination algorithm was developed to transform the highly nonlinear proposed kinematic model into a system of polynomial equations for each module. Next, the HCM is considered to solve the system of equations. Comparison of the results from the proposed approach with experimental data and other methods demonstrates the efficiency of the proposed contribution.
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ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574719001747