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Application of a Novel Elimination Algorithm with Developed Continuation Method for Nonlinear Forward Kinematics Solution of Modular Hybrid Manipulators

Published online by Cambridge University Press:  06 December 2019

Arash Rahmani*
Faculty of Mechanical Engineering, Urmia University of Technology, 5716617165 Urmia, Iran
Shirko Faroughi
Faculty of Mechanical Engineering, Urmia University of Technology, 5716617165 Urmia, Iran
*Corresponding author. E-mails:;


This paper addresses the application of a novel elimination algorithm with a newly developed homotopy continuation method (HCM) for forward kinematics of a specific hybrid modular manipulator known as n-(6UPS). First, the kinematic model of n-(6UPS) was extracted using a homogenous transformation matrix method. Then, a novel algebraic elimination algorithm was developed to transform the highly nonlinear proposed kinematic model into a system of polynomial equations for each module. Next, the HCM is considered to solve the system of equations. Comparison of the results from the proposed approach with experimental data and other methods demonstrates the efficiency of the proposed contribution.

Copyright © Cambridge University Press 2019

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