Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator

Algorithm 1

 for to by step

  for to by step

   for to by step

    for to by step

Forward_kinematics = BP_compensation (, , , );

  If iteration number ‖ error accuracy<eps

break;

   end

record (, , , , ,,);

    end

   end

  end

 end