Efficient Formulation of Hexapod Kinematics Enabling Real Time Adaptive Feedforward Control

The tracking performance of manipulators can be improved considerably by adaptive feedforward control (AFFC). However, complex kinematics hinder the application to parallel kinematic manipulators (PKMs). This paper proposes a compact and efficient formulation of the full PKM kinematics enabling real-time application of AFFC to complex PKMs. The efficient kinematic formulation is the basis for the ...