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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