An Application of the Newton-Homotopy Continuation Method for Solving the Forward Kinematic Problem of the 3-RRS Parallel Manipulator
Author
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-01-27
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
The forward kinematic problem (FKP) of the 3-RRS parallel manipulator is solved by means of the Newton-homotopy continuation method.
The closure equations are formulated in the three-dimensional Euclidean spaces considering the coordinates of the centers of the spherical joints as unknown variables.
The method is easy to follow and unlike the classical Newton-Raphson method it allows finding all the solutions of the FKP.
A case study is included in the contribution in order to confirm the correctness of the method.
In that concern, the numerical results obtained by means of the proposed method are verified with the aid of two different approaches such as the application of commercially available software like Maple16™ and the application of the PHCpack, a general purpose solver for polynomial systems based on homotopy continuation.
American Psychological Association (APA)
Gallardo-Alvarado, Jaime. 2019. An Application of the Newton-Homotopy Continuation Method for Solving the Forward Kinematic Problem of the 3-RRS Parallel Manipulator. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-6.
https://search.emarefa.net/detail/BIM-1195035
Modern Language Association (MLA)
Gallardo-Alvarado, Jaime. An Application of the Newton-Homotopy Continuation Method for Solving the Forward Kinematic Problem of the 3-RRS Parallel Manipulator. Mathematical Problems in Engineering No. 2019 (2019), pp.1-6.
https://search.emarefa.net/detail/BIM-1195035
American Medical Association (AMA)
Gallardo-Alvarado, Jaime. An Application of the Newton-Homotopy Continuation Method for Solving the Forward Kinematic Problem of the 3-RRS Parallel Manipulator. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-6.
https://search.emarefa.net/detail/BIM-1195035
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195035