Forward kinematics analysis of the 6-3 SPM by using neural networks

被引：28
|
作者：
Yurt, S. N. [1 ]
Anli, E. [1 ]
Ozkol, I. [1 ]
机构：
[1] Istanbul Tech Univ, Dept Aeronaut Engn, TR-80626 Istanbul, Turkey
来源：
MECCANICA | 2007年 / 42卷 / 02期
关键词：
kinematics; neural networks; parallel mechanism; Stewart platform mechanism;
D O I：
10.1007/s11012-006-9037-3
中图分类号：
O3 [力学];
学科分类号：
08 ; 0801 ;
摘要：
A feed-forward neural network has been trained using backpropagation algorithm to solve the forward kinematics problem of the 6-3 Stewart Platform Mechanism (SPM). The forward kinematics problem of the SPM does not have a unique solution since it involves solving a polynomial of order 16. Purely translational, purely rotational and general spatial data sets have been used in training and testing, and then an optimization procedure has been applied to fine-tune the solution. The method yields results fast and accurate enough such that it can be used instead of a gyro and a position sensor for real time control of the mechanism.
引用
收藏
页码：187 / 196
页数：10
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