SUMMARYThis paper addresses the application of a novel elimination algorithm with a newly developed homotopy continuation method (HCM) for forward kinematics of a specific hybrid modular manipulator known as n-(6UPS). First, the kinematic model of n-(6UPS) was extracted using a homogenous transformation matrix method. Then, a novel algebraic elimination algorithm was developed to transform the highly nonlinear proposed kinematic model into a system of polynomial equations for each module. Next, the HCM is considered to solve the system of equations. Comparison of the results from the proposed approach with experimental data and other methods demonstrates the efficiency of the proposed contribution.

中文翻译：

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一种新的消除算法与开发的连续方法在模块化混合机械臂非线性正运动学求解中的应用

摘要本文介绍了一种新的消除算法与新开发的同伦连续方法 (HCM) 的应用，该算法用于称为 n-(6UPS) 的特定混合模块化机械手的正向运动学。首先，使用齐次变换矩阵法提取n-(6UPS)的运动学模型。然后，开发了一种新的代数消除算法，将提出的高度非线性运动学模型转换为每个模块的多项式方程组。接下来，考虑使用 HCM 来求解方程组。将所提出方法的结果与实验数据和其他方法进行比较，证明了所提出的贡献的效率。