I am working on a 3 DOF parallel manipulator, I was successful in solving the inverse kinematics and forward kinematics of my manipulator. But I am facing a problem in generating a workspace for it.
I created a MATLAB script to find workspace by Monte Carlo Simulation Method, the output of the script generates random position coordinates which the end effector can reach with at least one orientation.
After generating random coordinates, I was easily able to solve the inverse kinematics, but when I tried to solve the forward kinematics, I was not able to get the same position coordinates that I used to solve the inverse kinematics.
Also, when I tried to manually change the leg lengths of my parallel robot in SolidWorks according to the output of inverse kinematics, I was not getting the same position coordinates of the end effector, as the values, I used to solve the inverse kinematics.
(For Inverse Kinematics Input: randomly generated position coordinate; Output: leg lengths)
(For Forward Kinematics Input: leg lengths obtained from inverse solution; Output: position coordinate of end effector)
I don't know where I am going wrong, Can anyone please help me with this?
Thank you in advance, I really appreciate your help !!
Kind Regards, Shiv