Study on improved forward kinematics algorithms for four-cable-driven camera robot

ZHOU Chengmin; XIE Jinghua; GAN Zhangze

doi:10.13873/J.1000-9787(2020)10-0008-03

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Study on improved forward kinematics algorithms for four-cable-driven camera robot

更新时间：2025-09-11

- Study on improved forward kinematics algorithms for four-cable-driven camera robot
- Issue 10, Pages: 8-10(2020)
- 作者机构：
  
  1. 中南大学机电工程学院
  2. 中南大学高性能复杂制造国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2020)10-0008-03
  CLC： TP242
- Published：2020
- 稿件说明：
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ZHOU Chengmin, XIE Jinghua, GAN Zhangze. Study on improved forward kinematics algorithms for four-cable-driven camera robot[J]. 2020, (10): 8-10.
DOI：

ZHOU Chengmin, XIE Jinghua, GAN Zhangze. Study on improved forward kinematics algorithms for four-cable-driven camera robot[J]. 2020, (10): 8-10. DOI： 10.13873/J.1000-9787(2020)10-0008-03.

摘要

四索驱动摄像机器人是一种绳牵引并联驱动机器人

根据其构型

提出了一种改进的正向运动学算法

不涉及求解雅可比矩阵导数及其逆

对该机构运动学进行快速精确求解。通过与牛顿迭代法进行数值实验对比

表明所提出的改进算法在同等精度下极大提升了运算速度

验证了该算法的有效性、准确性和实用性。

Abstract

Four-cable driven camera robot is a kind of rope-driven parallel robot. An improved forward kinematics algorithm based on its configuration is proposed

which does not involve solving the derivative of the Jacobi matrix and its inverse

fast and accurate solution of kinematics of this mechanism is carried out. By comparing with Newton iteration method

it is shown that the improved algorithm greatly improves the operation speed with the same precision

and the validity

accuracy and practicability of the algorithm are verified through numerical experiments.

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School of Mathematics and Statistics,Guizhou University of Finance and Economics

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