Optimal forward kinematics map for a parallel manipulator with sensor redundancy

In this paper, we investigate how to use the extra sensor(s) information in a parallel manipulator to obtain a more accurate estimate of the end- effector position. We propose the problem of optimal forward kinematics map for parallel manipulators with sensor redundancy. A parallel manipulator is said to have the property of sensors redundancy if the number of sensors in the system is greater than its degree-of-freedom. For a particular 2-dof over-actuated parallel manipulators, we show how to compute different forward kinematics maps based on different sets of angle sensors. Then, we propose an algorithm for computing a near optimal forward kinematics map for practical implementation. Simulation results show that the computed near optimal forward kinematics map is more accurate than the other forward kinematics maps.