Delta robot forward kinematics method with one root

Igor Gritsenko, Askar Seidakhmet, Azizbek Abduraimov, Pavel Gritsenko, Bekbaganbetov Abay

2017

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DOI 10.1109/icras.2017.8071913
Data confidence 70 medium
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Abstract

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.