A New Method to Solve the Kinematic Problems of Parallel Robots Using Generalized Reduced Gradient Algorithm

[abstFig src='/00280003/17.jpg' width=""300"" text='Stewart Gough robot and the equivalent substitutional configuration' ] This paper proposes a new method of solving the kinematic problems for parallel robots. The paper content aims to solve nonlinear optimiz...

Celý popis

Uložené v:
Podrobná bibliografia
Vydané v:Journal of robotics and mechatronics Ročník 28; číslo 3; s. 404 - 417
Hlavní autori: Trang, Thanh Trung, Li, Wei Guang, Pham, Thanh Long
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Tokyo Fuji Technology Press Co. Ltd 20.06.2016
Predmet:
Algorithms
Computing time
Degrees of freedom
Kinematics
Manipulators
Nonlinear equations
Nonlinear systems
Optimization
Robots
ISSN:0915-3942, 1883-8049
On-line prístup:Získať plný text
Tagy: Pridať tag
Žiadne tagy, Buďte prvý, kto otaguje tento záznam!
Abstract [abstFig src='/00280003/17.jpg' width=""300"" text='Stewart Gough robot and the equivalent substitutional configuration' ] This paper proposes a new method of solving the kinematic problems for parallel robots. The paper content aims to solve nonlinear optimization problems with constraints rather than to directly solve high-order nonlinear systems of equations. The nonlinear optimization problems shall be efficiently solved by applying the Generalized Reduced Gradient algorithm and appropriate downgrade techniques. This new method can be able to find exact kinematic solutions by assigning constraints onto the parameters. The procedure can be done without filtering control results from mathematical solution, from which the control time of manipulators can be reduced. The numerical simulation results in this paper shall prove that the method can be applied to solve kinematic problems for a variety of parallel robots regardless of its structures and degree of freedom (DOF). There are several advantages of the proposed method including its simplicity leading to a shorter computing time as well as achieving high accuracy, high reliability, and quick convergence in final results. Hence, the applicability of this method in solving kinematic problems for parallel manipulators is remarkably high.
AbstractList [abstFig src='/00280003/17.jpg' width=""300"" text='Stewart Gough robot and the equivalent substitutional configuration' ] This paper proposes a new method of solving the kinematic problems for parallel robots. The paper content aims to solve nonlinear optimization problems with constraints rather than to directly solve high-order nonlinear systems of equations. The nonlinear optimization problems shall be efficiently solved by applying the Generalized Reduced Gradient algorithm and appropriate downgrade techniques. This new method can be able to find exact kinematic solutions by assigning constraints onto the parameters. The procedure can be done without filtering control results from mathematical solution, from which the control time of manipulators can be reduced. The numerical simulation results in this paper shall prove that the method can be applied to solve kinematic problems for a variety of parallel robots regardless of its structures and degree of freedom (DOF). There are several advantages of the proposed method including its simplicity leading to a shorter computing time as well as achieving high accuracy, high reliability, and quick convergence in final results. Hence, the applicability of this method in solving kinematic problems for parallel manipulators is remarkably high.
This paper proposes a new method of solving the kinematic problems for parallel robots. The paper content aims to solve nonlinear optimization problems with constraints rather than to directly solve high-order nonlinear systems of equations. The nonlinear optimization problems shall be efficiently solved by applying the Generalized Reduced Gradient algorithm and appropriate downgrade techniques. This new method can be able to find exact kinematic solutions by assigning constraints onto the parameters. The procedure can be done without filtering control results from mathematical solution, from which the control time of manipulators can be reduced. The numerical simulation results in this paper shall prove that the method can be applied to solve kinematic problems for a variety of parallel robots regardless of its structures and degree of freedom (DOF). There are several advantages of the proposed method including its simplicity leading to a shorter computing time as well as achieving high accuracy, high reliability, and quick convergence in final results. Hence, the applicability of this method in solving kinematic problems for parallel manipulators is remarkably high.
Author Trang, Thanh Trung
Pham, Thanh Long
Li, Wei Guang
Author_xml – sequence: 1
  givenname: Thanh Trung
  surname: Trang
  fullname: Trang, Thanh Trung
– sequence: 2
  givenname: Wei Guang
  surname: Li
  fullname: Li, Wei Guang
– sequence: 3
  givenname: Thanh Long
  surname: Pham
  fullname: Pham, Thanh Long
BookMark eNp1kEFPAjEQhRujiYicvTbxvNDS7e72SIiiEZWgnDfd7iyUdLfYFo3-eit4MnEubzJ5b17yXaDTznaA0BUlwzERGR9tXRs3mg13JCXpCerRomBJQVJxinpEUJ4wkY7P0cD7LYnD01ywvIfMBD_BB36EsLE1Dha_WPMOOGwAP-gOWhm0wgtnKwOtx7bBC-mkMWDw0lY2eLzyulvjGXQQ7_oLaryEeq-izpysNXQBT8zaOh027SU6a6TxMPjVPlrd3rxO75L58-x-OpknKs1ISFRVkKIhBGieK0EbRZlshBwLnlEJlDVU8VxmXAkClZKqgbySvBZZxWqZ1wXro-vj352zb3vwodzavetiZTlOM15QxlMWXaOjSznrvYOm3DndSvdZUlIeqJaRavlDtTxQjQn-J6F0iIRsF5zU5t_cN5PUf64
CitedBy_id crossref_primary_10_1515_phys_2022_0249
Cites_doi 10.5772/9320
10.1109/70.833183
10.1243/PIME_PROC_1965_180_029_02
10.1016/0094-114X(95)00091-C
10.1002/(SICI)1097-4563(199602)13:2<111::AID-ROB4>3.0.CO;2-W
10.1017/S0263574706003080
10.1007/978-94-017-0657-5_42
10.1016/0094-114X(95)00106-9
10.1115/DETC1992-0203
10.1109/ROBOT.1996.509284
10.1016/j.amc.2011.03.106
10.1016/S0094-114X(01)00034-9
10.1177/0278364904039806
10.1115/1.2919188
10.1016/S0305-0548(98)00013-6
10.1115/1.2836473
10.1109/70.265928
10.1109/70.59354
10.1137/1037125
10.1109/INES.2008.4481271
10.1145/355769.355773
ContentType Journal Article
Copyright Copyright © 2016 Fuji Technology Press Ltd.
Copyright_xml – notice: Copyright © 2016 Fuji Technology Press Ltd.
CorporateAuthor Faculty of Mechanical Engineering, Thai Nguyen University of Technology
School of Mechanical and Automotive Engineering, South China University of Technology
CorporateAuthor_xml – name: School of Mechanical and Automotive Engineering, South China University of Technology
– name: Faculty of Mechanical Engineering, Thai Nguyen University of Technology
DBID AAYXX
CITATION
7SC
7SP
8FD
8FE
8FG
AFKRA
ARAPS
AZQEC
BENPR
BGLVJ
CCPQU
DWQXO
GNUQQ
HCIFZ
JQ2
K7-
L7M
L~C
L~D
P5Z
P62
PHGZM
PHGZT
PKEHL
PQEST
PQGLB
PQQKQ
PQUKI
PRINS
DOI 10.20965/jrm.2016.p0404
DatabaseName CrossRef
Computer and Information Systems Abstracts
Electronics & Communications Abstracts
Technology Research Database
ProQuest SciTech Collection
ProQuest Technology Collection
ProQuest Central UK/Ireland
Advanced Technologies & Computer Science Collection
ProQuest Central Essentials
ProQuest Central
Technology Collection
ProQuest One Community College
ProQuest Central
ProQuest Central Student
SciTech Premium Collection
ProQuest Computer Science Collection
Computer Science Database
Advanced Technologies Database with Aerospace
Computer and Information Systems Abstracts – Academic
Computer and Information Systems Abstracts Professional
Advanced Technologies & Aerospace Database
ProQuest Advanced Technologies & Aerospace Collection
Proquest Central Premium
ProQuest One Academic
ProQuest One Academic Middle East (New)
ProQuest One Academic Eastern Edition (DO NOT USE)
ProQuest One Applied & Life Sciences
ProQuest One Academic (retired)
ProQuest One Academic UKI Edition
ProQuest Central China
DatabaseTitle CrossRef
Computer Science Database
ProQuest Central Student
Technology Collection
Technology Research Database
Computer and Information Systems Abstracts – Academic
ProQuest One Academic Middle East (New)
ProQuest Advanced Technologies & Aerospace Collection
ProQuest Central Essentials
ProQuest Computer Science Collection
Computer and Information Systems Abstracts
SciTech Premium Collection
ProQuest One Community College
ProQuest Central China
ProQuest Central
ProQuest One Applied & Life Sciences
ProQuest Central Korea
ProQuest Central (New)
Advanced Technologies Database with Aerospace
Advanced Technologies & Aerospace Collection
ProQuest One Academic Eastern Edition
Electronics & Communications Abstracts
ProQuest Technology Collection
ProQuest SciTech Collection
Computer and Information Systems Abstracts Professional
Advanced Technologies & Aerospace Database
ProQuest One Academic UKI Edition
ProQuest One Academic
ProQuest One Academic (New)
DatabaseTitleList CrossRef
Computer Science Database
Database_xml – sequence: 1
  dbid: BENPR
  name: ProQuest Central
  url: https://www.proquest.com/central
  sourceTypes: Aggregation Database
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
EISSN 1883-8049
EndPage 417
ExternalDocumentID 10_20965_jrm_2016_p0404
GroupedDBID 7.U
AAYXX
AFFHD
AFKRA
ALMA_UNASSIGNED_HOLDINGS
ARAPS
BENPR
BGLVJ
CCPQU
CITATION
EBS
EJD
GROUPED_DOAJ
HCIFZ
ISHAI
JSF
JSH
K7-
OK1
P2P
PHGZM
PHGZT
PQGLB
RJT
RZJ
7SC
7SP
8FD
8FE
8FG
AZQEC
DWQXO
GNUQQ
JQ2
L7M
L~C
L~D
P62
PKEHL
PQEST
PQQKQ
PQUKI
PRINS
PUEGO
ID FETCH-LOGICAL-c460t-cb808f00e177c91fc13af9a29561ae13f1c57a65c90ebcacfe7ba5d96b3da7d83
IEDL.DBID K7-
ISICitedReferencesCount 1
ISICitedReferencesURI http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000393454800018&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN 0915-3942
IngestDate Fri Aug 29 06:13:21 EDT 2025
Sat Nov 29 06:26:29 EST 2025
Tue Nov 18 19:52:39 EST 2025
IsDoiOpenAccess false
IsOpenAccess true
IsPeerReviewed true
IsScholarly true
Issue 3
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-c460t-cb808f00e177c91fc13af9a29561ae13f1c57a65c90ebcacfe7ba5d96b3da7d83
Notes ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
OpenAccessLink https://doi.org/10.20965/jrm.2016.p0404
PQID 2465813543
PQPubID 4911629
PageCount 14
ParticipantIDs proquest_journals_2465813543
crossref_primary_10_20965_jrm_2016_p0404
crossref_citationtrail_10_20965_jrm_2016_p0404
PublicationCentury 2000
PublicationDate 2016-06-20
PublicationDateYYYYMMDD 2016-06-20
PublicationDate_xml – month: 06
  year: 2016
  text: 2016-06-20
  day: 20
PublicationDecade 2010
PublicationPlace Tokyo
PublicationPlace_xml – name: Tokyo
PublicationTitle Journal of robotics and mechatronics
PublicationYear 2016
Publisher Fuji Technology Press Co. Ltd
Publisher_xml – name: Fuji Technology Press Co. Ltd
References key-10.20965/jrm.2016.p0404-1
key-10.20965/jrm.2016.p0404-2
key-10.20965/jrm.2016.p0404-20
key-10.20965/jrm.2016.p0404-3
key-10.20965/jrm.2016.p0404-4
key-10.20965/jrm.2016.p0404-5
key-10.20965/jrm.2016.p0404-6
key-10.20965/jrm.2016.p0404-7
key-10.20965/jrm.2016.p0404-8
key-10.20965/jrm.2016.p0404-9
key-10.20965/jrm.2016.p0404-18
key-10.20965/jrm.2016.p0404-19
key-10.20965/jrm.2016.p0404-16
key-10.20965/jrm.2016.p0404-17
key-10.20965/jrm.2016.p0404-14
key-10.20965/jrm.2016.p0404-15
key-10.20965/jrm.2016.p0404-12
key-10.20965/jrm.2016.p0404-13
key-10.20965/jrm.2016.p0404-10
key-10.20965/jrm.2016.p0404-11
key-10.20965/jrm.2016.p0404-30
key-10.20965/jrm.2016.p0404-31
key-10.20965/jrm.2016.p0404-29
key-10.20965/jrm.2016.p0404-27
key-10.20965/jrm.2016.p0404-28
key-10.20965/jrm.2016.p0404-25
key-10.20965/jrm.2016.p0404-26
key-10.20965/jrm.2016.p0404-23
key-10.20965/jrm.2016.p0404-24
key-10.20965/jrm.2016.p0404-21
key-10.20965/jrm.2016.p0404-22
References_xml – ident: key-10.20965/jrm.2016.p0404-3
  doi: 10.5772/9320
– ident: key-10.20965/jrm.2016.p0404-20
  doi: 10.1109/70.833183
– ident: key-10.20965/jrm.2016.p0404-1
  doi: 10.1243/PIME_PROC_1965_180_029_02
– ident: key-10.20965/jrm.2016.p0404-24
  doi: 10.1016/0094-114X(95)00091-C
– ident: key-10.20965/jrm.2016.p0404-8
  doi: 10.1002/(SICI)1097-4563(199602)13:2<111::AID-ROB4>3.0.CO;2-W
– ident: key-10.20965/jrm.2016.p0404-19
  doi: 10.1017/S0263574706003080
– ident: key-10.20965/jrm.2016.p0404-31
– ident: key-10.20965/jrm.2016.p0404-7
– ident: key-10.20965/jrm.2016.p0404-9
– ident: key-10.20965/jrm.2016.p0404-13
  doi: 10.1007/978-94-017-0657-5_42
– ident: key-10.20965/jrm.2016.p0404-23
  doi: 10.1016/0094-114X(95)00106-9
– ident: key-10.20965/jrm.2016.p0404-26
– ident: key-10.20965/jrm.2016.p0404-16
  doi: 10.1115/DETC1992-0203
– ident: key-10.20965/jrm.2016.p0404-22
– ident: key-10.20965/jrm.2016.p0404-28
– ident: key-10.20965/jrm.2016.p0404-2
  doi: 10.1109/ROBOT.1996.509284
– ident: key-10.20965/jrm.2016.p0404-11
  doi: 10.1016/j.amc.2011.03.106
– ident: key-10.20965/jrm.2016.p0404-15
  doi: 10.1016/S0094-114X(01)00034-9
– ident: key-10.20965/jrm.2016.p0404-12
  doi: 10.1177/0278364904039806
– ident: key-10.20965/jrm.2016.p0404-17
  doi: 10.1115/1.2919188
– ident: key-10.20965/jrm.2016.p0404-30
  doi: 10.1016/S0305-0548(98)00013-6
– ident: key-10.20965/jrm.2016.p0404-25
– ident: key-10.20965/jrm.2016.p0404-5
– ident: key-10.20965/jrm.2016.p0404-6
  doi: 10.1115/1.2836473
– ident: key-10.20965/jrm.2016.p0404-18
  doi: 10.1109/70.265928
– ident: key-10.20965/jrm.2016.p0404-14
  doi: 10.1109/70.59354
– ident: key-10.20965/jrm.2016.p0404-21
– ident: key-10.20965/jrm.2016.p0404-10
  doi: 10.1137/1037125
– ident: key-10.20965/jrm.2016.p0404-27
– ident: key-10.20965/jrm.2016.p0404-4
  doi: 10.1109/INES.2008.4481271
– ident: key-10.20965/jrm.2016.p0404-29
  doi: 10.1145/355769.355773
SSID ssj0000547937
Score 2.0161502
Snippet [abstFig src='/00280003/17.jpg' width=""300"" text='Stewart Gough robot and the equivalent substitutional configuration' ] This paper proposes a new method of...
This paper proposes a new method of solving the kinematic problems for parallel robots. The paper content aims to solve nonlinear optimization problems with...
SourceID proquest
crossref
SourceType Aggregation Database
Enrichment Source
Index Database
StartPage 404
SubjectTerms Algorithms
Computing time
Degrees of freedom
Kinematics
Manipulators
Nonlinear equations
Nonlinear systems
Optimization
Robots
Title A New Method to Solve the Kinematic Problems of Parallel Robots Using Generalized Reduced Gradient Algorithm
URI https://www.proquest.com/docview/2465813543
Volume 28
WOSCitedRecordID wos000393454800018&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
journalDatabaseRights – providerCode: PRVAON
  databaseName: DOAJ Directory of Open Access Journals
  customDbUrl:
  eissn: 1883-8049
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000547937
  issn: 0915-3942
  databaseCode: DOA
  dateStart: 20070101
  isFulltext: true
  titleUrlDefault: https://www.doaj.org/
  providerName: Directory of Open Access Journals
– providerCode: PRVPQU
  databaseName: Advanced Technologies & Aerospace Database
  customDbUrl:
  eissn: 1883-8049
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000547937
  issn: 0915-3942
  databaseCode: P5Z
  dateStart: 20150201
  isFulltext: true
  titleUrlDefault: https://search.proquest.com/hightechjournals
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: Computer Science Database
  customDbUrl:
  eissn: 1883-8049
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000547937
  issn: 0915-3942
  databaseCode: K7-
  dateStart: 20150201
  isFulltext: true
  titleUrlDefault: http://search.proquest.com/compscijour
  providerName: ProQuest
– providerCode: PRVPQU
  databaseName: ProQuest Central
  customDbUrl:
  eissn: 1883-8049
  dateEnd: 99991231
  omitProxy: false
  ssIdentifier: ssj0000547937
  issn: 0915-3942
  databaseCode: BENPR
  dateStart: 20150201
  isFulltext: true
  titleUrlDefault: https://www.proquest.com/central
  providerName: ProQuest
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV25TsQwELW4Cii4EefKBQVNIHbsOK7QgjgkxCpaQEI0ke3YHAqbJQkUfD22N8tRQEOTFHEiK28y45mM3wNgVxihpKTYGq9hARFxHEhObKqiIxttWaIwF15sgvV6ye0tT9uCW922VY59onfUealcjfwAExsrUURJdDh8CZxqlPu72kpoTIJphDFydn7Bgs8ai12OOPo3T7eHaBBxgkfsPthxnhw8VW4rOor3h9aSyc_A9NMv-2BzuvDfaS6C-XaZCbsju1gCE3qwDOa-kQ-ugKILrYeDl15CGjYlvCqLNw3tghBe2FGeyhWmI72ZGpYGpqJywisF7JeybGrouw1gy1v9-K5z2Hc8sPZ8VvlGsgZ2i3s7uebheRXcnJ5cH58HrfZCoEgcNoGSSZiYMNSIMcWRUSgShgvs9sEKjSKDFGUipoqHrp1KGc2koDmPZZQLlifRGpgalAO9DqBNiDQ1BMkwt7lnriUXxuCYSh0qRHK0AfbHLz5TLTG508coMpugeKQyi1TmkMo8Uhtg7_OG4YiT4_eh22OYsvbjrLMvjDb_vrwFZt2jXGcYDrfBVFO96h0wo96ax7rqgOmjk17a7_g0vuMtzx5TevcBGf7hLw
linkProvider ProQuest
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V1Nb9QwEB2VgkQ58I0oFPABJC5pY8eJ4wNCK6C02na1KkXqLdiOTYvCZklCEfwofiNjJyn0ALceOOUQx1Lsl_lwZt4DeKqcMlqnDMHrRMRVlkVackxVbILeVuSGSRXEJsRslh8dyfkK_Bx7YXxZ5WgTg6Eua-PPyLcYR19Jk5QnL5dfIq8a5f-ujhIaPSym9vs3TNnaF7uvcX-fMbb95vDVTjSoCkSGZ3EXGZ3HuYtjS4UwkjpDE-WkYr7DU1maOGpSobLUyNgXChlnhVZpKTOdlEqUeYLzXoLLPMmF5-qfiujsTAfDH083F-j9aBolkrOeTYh5jpWtT41vfafZ5hK_HH7eEZ73A8G5bd_435blJlwfwmgy6XF_C1bs4jZc-4Nc8Q5UE4IWnOwHiWzS1eRdXZ1aggEvmeKoQFVL5r2eTktqR-aq8cIyFTmodd21JFRTkIGX--SHLcmB57nF69smFMp1ZFJ9xMXojj_fhfcX8rr3YHVRL-x9IJjw2dRxquMSc-vSaqmcY1mqbWwoL-k6bI4bXZiBeN3rf1QFJmABGQUio_DIKAIy1uH52QPLnnPk70M3RlgUg_Fpi9-YePDv20_g6s7h_l6xtzubPoQ1P62vgmPxBqx2zVf7CK6Y0-6kbR4HnBP4cNEI-gVCqj2n
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=A+New+Method+to+Solve+the+Kinematic+Problems+of+Parallel+Robots+Using+Generalized+Reduced+Gradient+Algorithm&rft.jtitle=Journal+of+robotics+and+mechatronics&rft.au=Trang%2C+Thanh+Trung&rft.au=Li%2C+Wei+Guang&rft.au=Pham%2C+Thanh+Long&rft.date=2016-06-20&rft.issn=0915-3942&rft.eissn=1883-8049&rft.volume=28&rft.issue=3&rft.spage=404&rft.epage=417&rft_id=info:doi/10.20965%2Fjrm.2016.p0404&rft.externalDBID=n%2Fa&rft.externalDocID=10_20965_jrm_2016_p0404
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0915-3942&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0915-3942&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0915-3942&client=summon