Weight Iteration of Displacement Forward of a Kind of Parallel Manipulators
Ren Lu, Song Baiyi, Feng Zuren
(Systems Engineering Institute,Xi'an Jiaotong University,Xi'an 710049,China)

Abstract: A method is presented for the displa cement forward problems of parallel manipulaors．It uses weight iteration based on the displacement backward simulated self-adaptive method. The exponentially decayed function is applied as the elementary function to construct weights. The method results in a dramatic improvement of iteration efficiency. The relationship between weights and iteration times is also analyzed and the method of choosing values of weights is defined. The results of simulation show that the method can effectively satisfy the real-time need of displacement control of parallelmanipulators.
Keywords: parallel manipulator；displacement forward；weight iteration; weight