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

Table 2

Forward kinematics results of the parallel manipulator by utilizing the improved BP neutral network.

No.	Values	(mm)	(rad)	(rad)	Error/10^-3
1	Target	0.7	0.1	0	0.971667
	Calculated	0.689317	0.104087	-0.002263
2	Target	0.7	0	0.1	0.293098
	Calculated	0.700993	-0.002258	0.102508
3	Target	0.7	0.1	0.1	0.147458
	Calculated	0.700549	0.101409	0.099082
4	Target	0.75	0.15	0	1.579175
	Calculated	0.732423	0.157081	-0.000093
5	Target	0.75	0	0.15	0.496743
	Calculated	0.755302	-0.002327	0.151418
6	Target	0.75	0.15	0.15	0.229083
	Calculated	0.749549	0.152573	0.149145
7	Target	0.75	-0.1	0.15	0.917767
	Calculated	0.758538	-0.104923	0.154916
8	Target	0.75	0.15	-0.1	3.714833
	Calculated	0.706730	0.159786	-0.104370
9	Target	0.75	0	0.25	1.788858
	Calculated	0.732512	-0.004709	0.238476
10	Target	0.75	0.25	0	2.240533
	Calculated	0.723416	0.253966	0.000679
11	Target	0.75	-0.25	0.25	4.398025
	Calculated	0.697250	-0.249546	0.248398
12	Target	0.8	0.15	0.25	0.471583
	Calculated	0.799934	0.152385	0.244868