Geometric modeling of the parallel robot Par4 using the modified Denavit Hartenberg method
作者： Sonda Abid Mhiri , Neila Mezghani Ben Romdhane , Tarak Damak
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摘要: The modeling of a parallel robot is famous problem research especially the forward kinematic model (FKM). This very difficult to solve in comparison serial manipulators. FKM almost impossibility it analytically. Most researchers have resort numerical method. But common drawback these methods convergence problem. In this paper, Modified DenavitHartenberg Method (MDHM) used determine Par4. Inverse Kinematic Model (IKM) Par4, inspired from Nabat model, for verification our work. results show validity calculated model.
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