Methods to solve forward kinematics of parallel and serial manipulators

摘要

In this paper, approaches for the solution of parallel manipulators forward kinematics have been addressed. Current research on this topic has been analyzed to determine the status and unresolved issues of the research field. Articles on parallel manipulators forward kinematics were reviewed, and numerous approaches for resolving forward kinematics in particular have been identified and published, which may assist researchers in selecting the most appropriate technique for solving the problem in this domain. Researchers have also attempted to apply these methods to a variety of other parallel manipulator-related problems, such as inverse kinematics and dynamics. In robotics, serial manipulators were invented before parallel manipulators. Hence, methodologies for solving forward kinematics were first developed for serial manipulators and many methods are ineffective for parallel manipulators. In this paper, all identified methods can be used for solving forward kinematics of parallel and serial manipulators.