Direct kinematics of parallel manipulators

Abstract

The determination of the direct kinematics of fully parallel manipulators is in general a difficult problem but has to be solved for any practical use. Various methods are presented to solve this problem: two kinds of iterative schemes, a reduced iterative scheme, and a polynomial method. The computation time of these methods are compared and their various advantages are shown.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>