Computationally efficient implementation of the Gauss–Newton method for solving the forward kinematics of redundant cable‐driven parallel robots

Abstract Cable‐driven parallel robots (CDPRs) are in which cables used instead of rigid connecting elements. An important task here, as other areas robotics, kinematic calculations. The state the CDPR can be described either Cartesian workspace coordinates a pose or joint space via cable lengths. calculation lengths from given platform is relatively simple for CDPRs. In contrast, forward kinematics, that is, lengths, complex due to topology and often cannot solved analytically. addition, systems designed redundantly, with more than degrees freedom. This redundancy causes solution kinematics considered fitting problem, where measured minimum error norm sought. this paper, an approach based on Gauss–Newton method presented. It how computationally efficient implementation possible when using quaternions under consideration unit quaternion constraints.