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.
Fast and Reliable Iterative Cable-Driven Parallel Robot Forward Kinematics: A Quadratic Approximation Approach
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2025 ; Hong Kong July 08, 2025 - July 11, 2025
19.06.2025
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
The Forward Kinematics of the 4-1 Cable-Driven Parallel Robot with Non Elastic Sagging Cables
Springer Verlag | 2020
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