This paper presents iterative forward kinematics algorithms for cable-driven parallel robots (CDPRs) that are based on Halley’s method. In contrast to other iterative forward kinematics methods that use a linearization of the CDPRs loop-closure equations, such as Newton’s method or the Levenberg-Marquardt method, Halley’s method uses a second-order Taylor series approximation of these equations. A hybrid method is also proposed that performs a Halley update for the first few iterations and then switches to a Levenberg-Marquardt update. The proposed algorithms are applied to a six degree-of-freedom suspended CDPR and are shown to reduce the number of iterations and increase the rate of successful convergence to the truth pose compared to the Levenberg-Marquardt method. The proposed hybrid method reduces the computation time required for convergence compared to the Levenberg-Marquardt method in the presence of large initial estimation errors.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fast and Reliable Iterative Cable-Driven Parallel Robot Forward Kinematics: A Quadratic Approximation Approach


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Lau, Darwin (Herausgeber:in) / Pott, Andreas (Herausgeber:in) / Bruckmann, Tobias (Herausgeber:in) / Mahnke, Henry (Autor:in) / Caverly, Ryan J. (Autor:in)

    Kongress:

    International Conference on Cable-Driven Parallel Robots ; 2025 ; Hong Kong July 08, 2025 - July 11, 2025



    Erscheinungsdatum :

    19.06.2025


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch