Closed-form forward kinematics solutions of a 4-DOF parallel robot

Hee Byoung Choi; Atsushi Konno; Masaru Uchiyama

doi:10.1007/s12555-009-0520-1

Closed-form forward kinematics solutions of a 4-DOF parallel robot

Hee Byoung Choi, Atsushi Konno, Masaru Uchiyama

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.

Original language	English
Pages (from-to)	858-864
Number of pages	7
Journal	International Journal of Control, Automation and Systems
Volume	7
Issue number	5
DOIs	https://doi.org/10.1007/s12555-009-0520-1
Publication status	Published - 2009 Nov 26

Keywords

4-DOF parallel robot
Closed-form solutions
Forward kinematics

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications

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10.1007/s12555-009-0520-1

Cite this

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AU - Konno, Atsushi

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Y1 - 2009/11/26

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AB - It is well known that the forward kinematics of parallel robots is a very difficult problem. Closed-form forward kinematics solutions have been reported only to a few special classes of parallel robots. This paper presents closed-form forward kinematics solutions of a 4-DOF parallel robot H4. A 16th order polynomial in a single variable is derived to solve the forward kinematics of the H4. The 16 roots of the polynomial lead to at most 16 different forward kinematics solutions. A numerical verification is also presented.

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KW - Closed-form solutions

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Closed-form forward kinematics solutions of a 4-DOF parallel robot

Abstract

Keywords

ASJC Scopus subject areas

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