Effective method of forward displacement analysis for virtual axis machine tool

In consideration of the continuity and possibility of machine tool movement, an algorithm to carry out the forward displacement is proposed based on the reverse displacement analysis. The initial position and pose of movable platform are supposed firstly, and they are corrected by the difference between calculated lengths of six legs and the given ones. After several iteration steps, the actual solution of forward displacement analysis can be obtained. Since the reverse displacement analysis is very easy to calculate, the above algorithm ensures that the calculating speed is greatly enhanced and the expended calculating time can meet the requirement in a real-time control process.