A singularity-consistent parameterization based direct kinematics algorithm for a class of parallel manipulators

A singularity-consistent direct kinematics algorithm is a necessity for the analysis and control of parallel manipulators. The present work proposes a first order singularity consistent algorithm for a class of parallel manipulators. It is shown that the algorithm is stable, convergent and can. handle the multiplicity of the direct kinematics solutions for the manipulators. The performance of the method is analyzed with the help of the numerical examples incorporated at the end of this paper.