Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation

Abstract

The forward kinematics (FK) of a 6-6 universal-prismatic-spherical (UPS) structure of a parallel robot is highly nonlinear, coupled, and has a one-to-many nature of mapping. There exists no close form solution to a forward kinematic problem (FKP), and real-time kinematic control is extremely difficult. This paper presents the implementation of time efficient and robust solution for FKP using a trajectory modifier algorithm along with a Newton Raphson (NR) method. One micrometer in translation and 0.001 deg in orientation accuracy with an average pose computation time of 2.3 ms are achieved. The novel algorithm is elaborated and the detailed performance parameters are tabulated. The paper presents trajectory following experiments to show robust, real-time FK solution and efficient kinematic control on both standalone and master–slave modes to be used for robot-assisted neurosurgery. The neuro-registration using the FK solutions in real time in a tele-manipulation mode is demonstrated.