The algorithm for planning the trajectory of the 3-RPR robot, taking into account the singularity zones based on the method of non-uniform covering

Rybak, Larisa; Gaponenko, E. V.; Malyshev, Dmitry; Virabyan, L.

doi:10.1088/1757-899x/489/1/012060

Cited by 4 publications

(2 citation statements)

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“…The system includes 9 variables corresponding to the coordinates of the " vertices of the movable platform. To approximate a set of solutions of this system, an algorithm based on the method of nonuniform coverings [8][9] previously discussed in work [5] can be used to solve forward kinematics of a flat robot with three degrees of freedom. To accelerate its implementation, let us modify the algorithm using parallel computing.…”

Section: Fig 1 Hexapod Block Diagrammentioning

confidence: 99%

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Comparative analysis of the speed of concurrent algorithms in solving the forward kinematics of a hexapod robot

Malyshev

Pisarenko

Tereshchenko

2022

J. Phys.: Conf. Ser.

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The paper discusses the use of parallel computing on a central processing unit (CPU) to solve the forward kinematics of a parallel hexapod robot. The paper proposes two algorithms to solve the forward kinematics. The first is based on the direct use of the system of equations of kinematic relations of the mechanism. The approximation of a set of system solutions represents a problem of a nine-dimensional grade. The second approach is based on the approximation of a set of solutions to the system of inequalities of a three-dimensional grade. A software package for implementing the proposed algorithms was developed. The comparative analysis of the effect of parallel computing on the speed of the presented algorithms was carried out.

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Section: Fig 1 Hexapod Block Diagrammentioning

confidence: 99%

“…Parallel mechanisms have a number of advantages compared to serial structures [1][2][3]. Forward kinematics [4][5][6][7] determines the position of an end-effector at specified parameters (lengths) of links. Let us consider the solution of forward kinematics using the example of a spatial parallel robot.…”

Section: Introductionmentioning

confidence: 99%