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 |
| 1 | Target | 0.7 | 0.1 | 0 | | Calculated | 0.7 | 0.099999 | 0 | 2 | Target | 0.7 | 0 | 0.1 | | Calculated | 0.7 | 0 | 0.1 | 3 | Target | 0.7 | 0.1 | 0.1 | | Calculated | 0.7 | 0.099999 | 0.099999 | 4 | Target | 0.75 | 0.15 | 0 | | Calculated | 0.75 | 0.149999 | 0 | 5 | Target | 0.75 | 0 | 0.15 | | Calculated | 0.75 | 0 | 0.15 | 6 | Target | 0.75 | 0.15 | 0.15 | | Calculated | 0.75 | 0.149999 | 0.149999 | 7 | Target | 0.75 | -0.1 | 0.15 | | Calculated | 0.75 | -0.099999 | 0.15 | 8 | Target | 0.75 | 0.15 | -0.1 | | Calculated | 0.75 | 0.149999 | -0.099999 | 9 | Target | 0.75 | 0 | 0.25 | | Calculated | 0.75 | 0 | 0.249999 | 10 | Target | 0.75 | 0.25 | 0 | | Calculated | 0.749994 | 0.249994 | 0 | 11 | Target | 0.75 | -0.25 | 0.25 | | Calculated | 0.749995 | -0.249994 | 0.249991 | 12 | Target | 0.8 | 0.15 | 0.25 | | Calculated | 0.8 | 0.15 | 0.249998 |
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