Quantitative and qualitative study of methods for solving the kinematic problem of a planar parallel manipulator based on precision error optimization

摘要

The main objective of our work is to optimize the positional and orientation error of a platform using the direct geometric model of a parallel plane manipulator robot. It is well known that the main disadvantage of parallel manipulators is the existence of singularities within its workspace, the adaptive neuro-fuzzy solution is proposed in this study. Intermediate methods have been used to determine the optimal solution. The first method is a graphical method which determines all possible positions of the platform based on the intersection of circles. The second method is the polynomial method used to calculate the coordinates of the center of gravity and the orientation of the platform. Matlab programming simulation of these methods makes it possible to find all the solutions deduced from these methods. The analysis shows that the polynomial method is the one that provides the optimal solution.