A new solution to the inverse position analysis of the redundant serial robot is presented.The inverse position analysis problem of the redundant serial robot is transformed into a minimization problem and then the optimization method is adopted to solve the nonlinear least square problem with the analytic form of a new Jacobi matrix.In this way,the inverse solution of the redundant serial robot can be searched out quickly under the desired precision when the positions of the three non-collinear end effector points are given.The inverse position analysis of the 7R redundant serial robot is illustrated as an example and the simulation results verify the efficiency of the proposed algorithm.
This paper presents the forward displacement analysis of an 8-PSS(prismatic-spherical-spherical)redundant parallel manipulator whose moving platform is linked to the base platform by eight kinemtic chains consisting of a PSS joint and a strut with fixed length.A general approximation algorithm is used to solve the problem.To avoid the extraction of root in the approximation process,the forward displacement analysis of the 8-PSS redundant parallel manipulator is transformed into another equivalent problem on the assumption that the strut is extensible while the slider is fixed.The problem is solved by a modified approximation algorithm which predicates that the manipulator will move along a pose vector to reduce the difference between the desired configuration and an instantaneous one,and the best movement should be with minimum norm and least quadratic sum.The characteristic of this modified algorithm is that its convergence domain is larger than that of the general approximation algorithm.Simulation results show that the modelified algorithm is general and can be used for the forward displacement analysis of the redundant parallel manipulator actuated by a revolute joint.
