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

Hee Byoung Choi, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    8 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 languageEnglish
    Pages (from-to)858-864
    Number of pages7
    JournalInternational Journal of Control, Automation and Systems
    Volume7
    Issue number5
    DOIs
    Publication statusPublished - 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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