Hello Everyone, I am working on 3 DOF parallel manipulator.
I was trying to find the reachable workspace of my parallel manipulator by the Monte Carlo method, and I am facing an error in solving it.
I created a MATLAB script to find workspace by the Monte Carlo Simulation Method; the script's output generates random position coordinates.
After generating random coordinates, I could easily solve the inverse kinematics by selecting a random coordinate from Monte Carlo. Still, when I tried to solve the forward kinematics, I could not get the exact position coordinates I used to solve the inverse kinematics.
Also, when I tried to manually change the leg lengths of my parallel robot in SolidWorks according to the output of inverse kinematics, I was not getting the exact position coordinates of the end effector.
Note:
(For Inverse Kinematics Input: randomly generated position coordinate; Output: leg lengths)
(For Forward Kinematics Input: leg lengths obtained from inverse solution; Output: position coordinate of end effector)
I don't know where I am going wrong. Can anyone please help me with this?
Thank you in advance. I appreciate your help !!
Shiv
Dear Shiv karpoor,
I suggest you to see links on topic.
Chapter Determination of Workspace Volume of Parallel Manipulators U...
Article Manipulator workspace analysis using the Monte Carlo Method
https://robotics.stackexchange.com/questions/23183/how-to-find-workspace-of-parallel-manipulator-by-monte-carlo-method
https://arxiv.org/pdf/2107.05625.pdf
Article Numerical Methods for Reachable Space Generation of Humanoid Robots
https://www.waterstones.com/book/advances-in-cooperative-robotics-proceedings-of-the-19th-international-conference-on-clawar-2016/mohammad-osman-tokhi/gurvinder-s-virk/9789813149120
Best regards
Dear Mohamed-Mourad Lafifi, Thank you for the articles. I found the problem as to why my PKM was not able to reach a randomly generated point. The answer is the spherical joints of my PKM. I still haven't been able to get the end effector to reach the random point, but limiting the range of S-joints will work. I was able to limit the S-joints in Z-direction using the vector gradient angle formula and I got the correct distance of the end effector from the origin in the z-direction, Now I need to limit the S-joint in X & Y direction. Does anyone know how to limit the range of S-joints mathematically or in Solidworks?
Hello everyone,
A month after asking my query here, I found the solution; however, I forgot to mention it here. So I'm sharing the solution so anyone trying to find the PKM's workspace can use it. Prior to using inverse kinematics, constraint equations must be considered, along with determining the range of each joint being used in the manipulator. Finally, generate a workspace by developing a program using the Monte Carlo method.
- Badges
- Science topic
- Similar topics
- Force