| This paper presents a solution
scheme for forward kinematics of a general fully parallel manipulator that
guarantees a unique solution with only three redundant sensors. The redundant
sensors were designed to minimize engineering difficulties in the realization,
whereas an optimal sensor location was proposed to achieve a numerical efficiency
and accuracy significantly better than existing solutions. As a result,
the present approach is insensitive to misalignment of sensor location and
measurement errors. Due to these merits, the present approach can handle
joint misalignment due to machining error and assembly when it is applied
to the task of self-calibration, which requires extreme precision. It is
also suitable for applications in which real-time computation is needed. |
