Research Article

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

Table 3

Forward kinematics results of the parallel manipulator by utilizing the BP neural network with position compensation.

No.Values (mm) (rad) (rad)Error

1Target0.70.10
Calculated0.70.0999990
2Target0.700.1
Calculated0.700.1
3Target0.70.10.1
Calculated0.70.0999990.099999
4Target0.750.150
Calculated0.750.1499990
5Target0.7500.15
Calculated0.7500.15
6Target0.750.150.15
Calculated0.750.1499990.149999
7Target0.75-0.10.15
Calculated0.75-0.0999990.15
8Target0.750.15-0.1
Calculated0.750.149999-0.099999
9Target0.7500.25
Calculated0.7500.249999
10Target0.750.250
Calculated0.7499940.2499940
11Target0.75-0.250.25
Calculated0.749995-0.2499940.249991
12Target0.80.150.25
Calculated0.80.150.249998