RoSe, March 14, 2014

Solving Solving the the forward forward kinematics kinematics of of parallel parallel robots, robots, a a review review of of available available methods methods
Memorial Memorial University University of of Newfounland Newfounland

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Outline

RoSe, March 14, 2014

Introduction Introduction Kinematics Kinematicsformulation formulation Forward Kinematics Forward Kinematics roblem roblem Solving the system Solving the system !esults !esultsand and"nalysis "nalysis Summary Summary

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Introduction

RoSe, March 14, 2014

#he #he truly truly parallel parallel manipulator manipulator ''(ou)h (ou)h*latfor$ *latfor$+St",art +St",art*latfor$*latfor$''on" on"fi."d fi."d/a&" /a&" ''on" on"$o/il" $o/il"*lat"for$ *lat"for$ ''6 60in"$atic& 0in"$atic&chain& chain& 1ach 1ach0in"$atic& 0in"$atic&chain chain '',ith ,ithon" on"*ri&$atic *ri&$aticactuator actuator ''throu)h throu)huniv"r&al univ"r&alor or/all /all2oint& 2oint&

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Introduction

RoSe, March 14, 2014

ros ros ''#or" #or"ri)id ri)id ''L"&& L"&&$a&&iv" $a&&iv" ''Lar)"r Lar)"racc"l"ration& acc"l"ration& ''Lar)"r Lar)"r*ayload& *ayload& $ons $ons ''Li$it"d Li$it"d,or0&*ac" ,or0&*ac" ''3on'lin"ar 3on'lin"ar$od"lin) $od"lin) ''4ifficult 4ifficultcontrol control

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Introduction
Inverse Inverse kinematics kinematics problem problem

RoSe, March 14, 2014

415 415::(iv"n (iv"nth" th")"n"rali6"d )"n"rali6"dcoordinat"& coordinat"&of ofth" th"$ani*ulator $ani*ulator"nd' "nd' "ff"ctor "ff"ctor78 78find findth" th"2oint 2oint*o&ition& *o&ition&L. L. 1.*licit 1.*licit&olution. &olution. R"al R"al&olution &olution99: :22

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Introduction
Forward Forward kinematics kinematics problem problem

RoSe, March 14, 2014

415 415::(iv"n (iv"nth" th"2oint 2oint*o&ition& *o&ition&L8 L8find findth" th")"n"rali6"d )"n"rali6"dcoordinat"& coordinat"& 7 7of ofth" th"$ani*ulator $ani*ulator"nd'"ff"ctor. "nd'"ff"ctor. aadifficult difficult*ro/l"$ *ro/l"$+Roth+Roth-

Proven: Proven:

40 40co$*l". co$*l".&olution& &olution&+La6ard+La6ardR"al R"al&olution &olution99; ;co$*l". co$*l".9 9

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Kinematics Formulation

RoSe, March 14, 2014

<h" 0in"$atic& $od"l varia/l"& L = 2oint varia/l"& 7 ' *o&ition and ori"ntation
1nd'"ff"ctor )"n"rali6"d coordinat"&

Principle : any ri)id /o/y can /" *o&ition"d /y 3 di&tinct *oint&. <h" 3 *latfor$ di&tinct *oint&:
3 2oint c"nt"r& >18 >28 >3.

<h" ? varia/l"& ar" &"t a& :

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Kinematics Formulation

RoSe, March 14, 2014

<h" 0in"$atic& $od"l varia/l"& L = 2oint varia/l"& 7 ' *o&ition and ori"ntation
1nd'"ff"ctor )"n"rali6"d coordinat"&

Displacement based equation system Principle : v"ctorial for$ulation di&tanc" con&traint& and nor$ &quar"

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Kinematics Formulation

RoSe, March 14, 2014

Position based equations

@ 3in" varia/l"& :
= th" fir&t 3 $o/il" *latfor$ 2oint&
= A.18y18618.28y28628.38y3863B

@ 5ro$ th" CD @ <h" 3 fir&t l")&: nor$ /"t,""n Ei and >i @ <h" 3 oth"r l")&:
= F>48 F>5 and F>6 ar" ,ritt"n in t"r$& of varia/l"& = 3or$ /"t,""n Ei and >i

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Forwards Kinematics Problem

#od"l&

RoSe, March 14, 2014

Displacement based equations

@ <ri)o ,ith tran&lation and an)l"& +4i"udonn"@ <ran&lation and thr"" tri)ono$"tric id"ntity +#"rl"t@ <ran&lation and th" tan)"nt an)l" varia/l" chan)" +(riffi& G 4uffy@ <ran&lation and th" rotation $atri. @ <ran&lation and rotation (ro"/n"r /a&"& @ <ran&lation and quat"rnion
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@ <ran&lation and dual quat"rnion @

Forwards Kinematics Problem

#od"l&

RoSe, March 14, 2014

Position based equations

@ thr"" *oint $od"l ,ith *latfor$ di$"n&ional con&traint& @ thr"" *oint $od"l ,ith *latfor$ con&traint& ,ith *ointin) a.i& @ th" thr"" *oint $od"l ,ith con&traint& and function r"co$/ination @ th" &i. *oint $od"l

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Forwards Kinematics Problem

,h"r"

RoSe, March 14, 2014

Transformation into an optimization problem

5or o*ti$i6ation t"chniqu"& Hn" o/2"ctiv" function 4"riv"d fro$ th" CD L"t l)i /" th" l") l"n)th of 0in"$atic& chain i +in*ut of th" *ro/l"$-. au)$"nt"d /y on" con&traint &"t : th" *latfor$ fi."d di&tanc"& /"t,""n th" thr"" &"l"ct"d 2oint *oint& : >1I>2 and >3 di&tinct *oint&

,h"r"

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Solving the system

RoSe, March 14, 2014

Numeric Methods

@ S"cant #"thod 'J on" &olution @ 3",ton $"thod 'J on" &olution @ Fontinuation $"thod ,ith ho$otho*y 'J &"v"ral &olution& @ 4yallitic 1li$ination 'J &"v"ral &olution& @ Cnt"rval analy&i& 'J all &olution& or no an&,"r +c"rtifi"d@ ("o$"tric Ct"rativ" #"thod 'J on" &olution
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Solving the system

RoSe, March 14, 2014

Algebraic Methods

@ 4yallitic 1li$ination 'J &"v"ral &olution& @ R"&ultant& $"thod 'J &"v"ral &olution& @ (ro"/n"r /a&"& 'J all ".act &olution& +c"rtifi"d-

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Solving the system

RoSe, March 14, 2014

Optimization Techniques

@ ("n"tic El)orith$ 'J &"v"ral &olution& @ Si$ulat"d Enn"alin) 'J &o$" &olution& @ Ky/rid ("n"tic El)orith$ and Si$ulat"d Enn"alin) 'J all &olution& @ (3' F7 'J all &olution&

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Solving Methods
Newton%s Newton%s Method Method

RoSe, March 14, 2014

''L" L"hav" hav"on" on"&olution &olution ''4i"udonn" 4i"udonn"in in1?M2 1?M2 &bservations &bservations ''Nuadratic Nuadraticconv"r)"nc" conv"r)"nc" ''S$all S$allco$*utation co$*utationti$"& ti$"& ''#ay #aynot notconv"r)" conv"r)" ''Oaco/ian Oaco/ianinv"r&ion inv"r&ion ''3u$"ric 3u$"ricin&ta/iliti"& in&ta/iliti"& '(ample '(ample ''P"ry P"ryfa&t fa&t$"thod $"thodfor forcontrol control ''on on&in)ularity &in)ularityfr"" fr""SS#: SS#:5Q 5Qfailur"& failur"& ''3""d& 3""d&conv"r)"nc" conv"r)"nc"t"&t t"&ta& a&th" th"Dantorovich Dantorovichth"or"$ th"or"$
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Solving Methods
Interval Interval "nalysis "nalysis

RoSe, March 14, 2014

''Ell Ell&olution& &olution& ''#"rl"t #"rl"tin in2005 2005 &bservations &bservations ''Nuadratic Nuadraticconv"r)"nc" conv"r)"nc" ''Lon) Lon)co$*utation co$*utationti$"& ti$"& ''#ay #aynot notconv"r)" conv"r)" ''Oaco/ian Oaco/ianinv"r&ion inv"r&ion ''Eccount& Eccount&for fori$*r"ci&ion i$*r"ci&ion '(ample '(ample ''3""d& 3""d&3",tonR& 3",tonR&$"thod $"thod ''Hn Hn&in)ularity &in)ularityfr"" fr""SS#: SS#:5Q 5Qfailur"& failur"& ''3""d& 3""d&"nclo&ur" "nclo&ur"t"&t t"&ta& a&,ith ,ithth" th"Dantorovich Dantorovichth"or"$ th"or"$
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Solving Methods

RoSe, March 14, 2014

$ontinuation $ontinuation method method with with homothopy homothopy ''Ra)havan Ra)havanin in1??3 1??3
''L" L"hav" hav"&olution& &olution&for foraa&i$*l" &i$*l""quation "quation&y&t"$ &y&t"$5+75+7-: :0 0 ''L" L",i&h ,i&h&olution& &olution&for for&i$ilar &i$ilar(+7(+7-: :0 0 ''Fontinuation: Fontinuation:K+78 K+78SS-: :(+7-T (+7-TS S+5+7-U(+7-+5+7-U(+7-''S S A08V8 A08V81B 1B

&bservations &bservations ''#ay #ay$i&& $i&&&olution& &olution&

''#ay #ayadd add&olution& &olution& ''Fro&&in) Fro&&in)&olution& &olution& ''3""d& 3""d&it"rativ" it"rativ"$"thod $"thod

'(ample '(ample '' ro/l"$ ro/l"$)oin) )oin)fro$ fro$th" th"SS# SS#to toth" th"6'6 6'6
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Solving Methods
)yallitic )yallitic 'limination 'limination ** Numeric Numeric '' C&olation C&olationto toaaunivariat" univariat""quation "quation ''Ku&ty Ku&tyin in1??4 1??4 &bservations &bservations '' "rha*& "rha*&all all&olution& &olution& ''Fo$*l". Fo$*l".&olution& &olution&$ay $ay/"co$" /"co$"r"al r"al&olution& &olution& ''S*uriou& S*uriou&&olution& &olution&ar" ar"add"d add"d '(ample '(ample ''Si$*l"r Si$*l"r*arall"l *arall"lro/ot&: ro/ot&:HD HD '' ro/l"$: ro/l"$:40 40&olution& &olution&for forth" th"SS# SS#
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RoSe, March 14, 2014

Solving Methods
!esultants !esultants ** "lgebraic "lgebraic '' C&olation C&olationto toaaunivariat" univariat""quation "quation ''Ku&ty Ku&tyin in1??4 1??4 &bservations &bservations '' "rha*& "rha*&all all&olution& &olution& ''S*uriou& S*uriou&&olution& &olution&ar" ar"add"d add"d ''R"quir"& R"quir"&"li$ination "li$ination&t"* &t"*,ith ,ithCD CD '(ample '(ample ''Si$*l"r Si$*l"r*arall"l *arall"lro/ot&: ro/ot&:HD HD '' ro/l"$: ro/l"$:40 40&olution& &olution&for forth" th"SS# SS#
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Solving Methods
!esultants !esultants ** "lgebraic "lgebraic

RoSe, March 14, 2014

''Solvin) Solvin)for forR"&+f8)8.1R"&+f8)8.1-: :0 0"quival"nt "quival"ntto tod"t+#d"t+#-: :0 0 '' Cn Cnc"rtain c"rtainin&tanc"&8 in&tanc"&8th" th"h"ad h"adt"r$& t"r$&of ofth" th"*olyno$ial& *olyno$ial&canc"l canc"l W Wth" th"canc"llation canc"llationof ofth" th"d"t"r$inant d"t"r$inant W Wit itadd& add&on" on"".tran"ou& ".tran"ou&root. root. ''<h" <h"r"&ultant r"&ultant$"thod $"thodi& i&"quival"nt "quival"ntto toth" th"dyall"tic dyall"tic$"thod $"thod
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Solving Methods

RoSe, March 14, 2014

+roebner +roebner ,ases ,ases ** "lgebraic "lgebraic ''calculation calculationof of(ro"/n"r (ro"/n"r/a&i&: /a&i&:canonical canonicalfor$ for$of ofid"al id"al ''conv"r&ion conv"r&ionto toaaRational Rational%niv"ariat" %niv"ariat"R"*r"&"ntation R"*r"&"ntation ''La6ard8 La6ard85au)"r" 5au)"r"and andRouilli"r Rouilli"rin in1??6 1??6= =2000 2000*"riod *"riod &bservations &bservations ''Ell Ell".act ".act&olution& &olution& ''Rational Rationalor orint")"r int")"rco"ffici"nt& co"ffici"nt& ''R"quir"& R"quir"&&olvin) &olvin)th" th"%nivariat" %nivariat""quation "quation '(ample '(ample ''36 36&olution& &olution&for forth" th"SS# SS# ''6'6 6'6co$*utation co$*utationti$"&: ti$"&:1 1$in $inin in#a*l" #a*l"
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Solving Methods
+enetic +enetic "lgorithms "lgorithms
''L" L"hav" hav"on" on"&olution &olution ''>oudr"au >oudr"auin in1??6 1??6 &bservations &bservations ''K"uri&tic K"uri&ticco$*utation co$*utationti$"& ti$"& ''#ay #aynot notconv"r)" conv"r)" ''#od"lin) #od"lin)i&&u" i&&u" ''Startin) Startin)&olution &olutiond"*"ndant d"*"ndant '(ample '(ample ''#ay #ayfind find$any $any&olution& &olution& throu)h throu)hr"*"at"d r"*"at"dtrial& trial& ''S$all"r S$all"rro/ot& ro/ot&
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Results nalysis
!ONF#'% AT#ON TA(&"

RoSe, March 14, 2014 FKP OOT !" T#F#"D "$%&T$

Ooint varia/l"& L :: X1250I 1250I 1250I 1250I 1250I 1250Y Fa&" ,ith 16 r"al r"&ult& confir$"d /y al)"/raic $"thod

C># co$*ati/l" F ,ith 1.M4 (K6 dual cor" *roc"&&or& ,ith Linu. #iddl" #"$orial 1a&t %niv"r&ity <"chnical %niv"r&ity r!c!d"nt Suivant

Results nalysis

RoSe, March 14, 2014

(ro"/n"r /a&i& T Rational %nivariat" R"*r"&"ntation

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Results nalysis

RoSe, March 14, 2014

(ro"/n"r /a&i& T Rational %nivariat" R"*r"&"ntation

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Results nalysis
H*ti$i6ation <"chniqu"&

RoSe, March 14, 2014

Succ"&& rat"&: SE i& 52 Q8 oth"r& 100 Q Solvin): (3' F7 o/tain"d all 16 &olution& (3' F7 out*"rfor$"d th" oth"r& on all account& o*ulation &i6" of 200 : /"tt"r r"&*on&" ti$"&
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Results nalysis
H*ti$i6ation <"chniqu"&

RoSe, March 14, 2014

Succ"&& rat"&: SE i& 52 Q8 oth"r& 100 Q Solvin): (3' F7 o/tain"d all 16 &olution& (3' F7 out*"rfor$"d th" oth"r& on all account& o*ulation &i6" of 200 : /"tt"r r"&*on&" ti$"&
#iddl" #"$orial 1a&t %niv"r&ity <"chnical %niv"r&ity r!c!d"nt Suivant

Results nalysis

RoSe, March 14, 2014

E&&"$/ly #od"&

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Results nalysis

RoSe, March 14, 2014

E&&"$/ly #od"&

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Summary
$olving methods 3",tonZ& $"thod Lith Dantorovich P"ry fa&t calculation& @ Interval Analysis = Certified solutions = But long computation times @ Algebraic methods (Groebner Ell ".act &olution& >ut lon) co$*utation ti$"& 5or ch"c0in) *ur*o&"& (3' F7 ("n"tic El)orith$ = Ell &olution& = 3ot v"ry *r"ci&"
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RoSe, March 14, 2014