REAL-TIME COMPUTATION OF THE ACTUAL POSTURE OF THE GENERAL GEOMETRY 6-6 FULLY-PARALLEL MECHANISM USING TWO EXTRA ROTARY SENSORS

摘要

The paper presents three algorithms for the determination of the actual configuration of the general geometry 6-6 fully-parallel mechanism by using two extra rotary sensors in addition to the six ones that are normally implemented in the servo-systems of the six actuated legs. The three proposed algorithms provide a one-to-one correspondence between the sensor measurements and the configuration of the mechanism. Comparison of the three algorithms, that are all for real-time computation, is presented and one of them is shown to be a good compromise between precision and computation time.