Delta Robot Forward Kinematics Method with One Root

被引：0
|
作者：
Gritsenko, Igor [1 ]
Seidakhmet, Askar [1 ]
Abduraimov, Azizbek [1 ]
Gritsenko, Pavel [1 ]
Bekbaganbetov, Abay [2 ]
机构：
[1] Al Farabi Kazakh Natl Univ, Alma Ata, Kazakhstan
[2] Kazakh British Tech Univ, Alma Ata, Kazakhstan
来源：
2017 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION SCIENCES (ICRAS) | 2017年
关键词：
delta; parallel robot; kinematics;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this work we investigate forward kinematics of Clavel's parallel Delta robot. Authors introduce novel alternative algorithm for delta robot forward kinematics solution, which has only one root. We introduce numerical verification with closed loop kinematics computation: inverse kinematics - forward kinematics. Additionally authors introduce their own implementation of inverse kinematics for delta robot. Numerical implementation of proposed forward kinematics algorithm showed computation time of 150 microseconds per iteration and computational error of 10-19, that is could be considered as a microprocessor computation error.
引用
收藏
页码：39 / 42
页数：4
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