Identification of a parallel manipulator´s pose using a parallelogram

An efficient solution for pose identification of a parallel manipulator is presented. The procedure consists of two steps: (1) the pose of the parallel manipulator is determined with two affine invariants of a parallelogram; (2) Guass-Newton method is introduced, and results of the first step are used as the initial values of this iterative process. At last this method has been experimented, and compared with Lowe´s method. The results demonstrate the advantage of the proposed method with lower computational cost. The accuracy and stability which are the main concerns during the real-time applications are also improved.