Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors

The paper presents three algorithms for the determination of the actual configuration of the general geometry 6-6 fully-parallel mechanism by using two extra rotary sensors in addition to the six ones that are normally implemented in the servosystems of the six actuated legs. The three proposed algorithms provide a one-to-one correspondence between the sensor measurements and the configuration of the mechanism. Comparison of the three algorithms, that are all for real-time computation, is presented and one of them is shown to be a good compromise between precision and computation time.