Title :
Study on Direct Kinematic Solution for Parallel Robots with 6 Freedoms Based on Interval Analysis
Author :
Huang Kang ; Zhang Jian-hua ; Wang Fu-lei ; Xing Jian
Author_Institution :
Sch. of Mech. & Automotive Eng., Hefei Univ. of Tech., Hefei, China
Abstract :
A new numerical method based on interval analysis is presented for direct kinematic solution for parallel robots. After the interval function is built, the initial search box can be gained through interval analysis, which will be tested and bisected until all of the convergent intervals are obtained. Then, the classical iterate method is employed to get all the point solution in each interval.
Keywords :
convergence of numerical methods; iterative methods; robot kinematics; convergent interval; direct kinematic solution; interval analysis; iterative method; parallel robot; search box; Direct Kinematic Solution; Interval Analysis; Kinematic Analysis; Parallel Robot;
Conference_Titel :
Digital Manufacturing and Automation (ICDMA), 2010 International Conference on
Conference_Location :
ChangSha
Print_ISBN :
978-0-7695-4286-7
DOI :
10.1109/ICDMA.2010.30
