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Computational cost of two forward kinematic models for a S-G based climbing robot

Abstract:

An interesting novel application of the Gough-Stewart platform as a climbing robot and its kinematics control has been proposed to climb autonomously through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. For planning the motion of the parallel robot, inverse and direct kinematics problems have to be solved continuously in the path planning algorithm in a minimum time. Computation efficiency of the model is very important. This paper presents a comparison between two models of the 6-UPS parallel mechanism. Inverse and direct kinematic problems have been numerically solved with classic methods and compare for four different configurations for the two models. The analysis and simulation of the kinematics problems show the computational efficiency of the proposed model for the path planning of the climbing parallel robot. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.