A New Method for Solving the Direct Kinematics of 6-DOF SPS

Li, Qiang; Yan, Hong Bo

doi:10.4028/0-87849-421-9.889

Cited by 1 publication

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“…By solving this polynomial equation, all configurations of the Stewart platform can be found and singularities can be identified. The numerical method includes direct numerical iterations which basically solve the constraint equations by iterative root finders or optimization techniques (Arshad et al , 2005; Li and Yan, 2007; Wang, 2007; Parikh and Lam, 2005; Ren et al , 2006), continuation method (Mu and Kazerounian, 2002; Dong and Zhang, 2001; Chen and Yan, 1997; Liu and Yang, 1996), neural networks (Parikh and Lam, 2008; Durali and Shameli, 2004; Sadjadian and Taghirid, 2005; Yurt et al , 2007), genetic algorithm (GA) (Liu et al , 2006), and interval analysis (Merlet, 2004; Shen and Wu, 2004). Each of these methods has advantages and limitations compared with the others.…”

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confidence: 99%

Forward kinematics analysis of a six‐DOF Stewart platform using PCA and NM algorithm

Wang

Shang

et al. 2009

Industrial Robot: An International Journal

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Purpose -The purpose of this paper is to present an adaptive numerical algorithm for forward kinematics analysis of general Stewart platform. Design/methodology/approach -Unlike the convention of developing a set of kinematic equations and then solving them, an alternative numerical algorithm is proposed in which the principal components of link lengths are used as a bridge to analyze the forward kinematics of a Stewart platform. The values of link lengths are firstly transformed to the values of principal components through principal component analysis. Then, the computation of the values of positional variables is transformed to a two-dimensional nonlinear minimization problem by using the relationships between principal components and positional variables. A hybrid Nelder Mead-particle swarm optimizer (NM-PSO) algorithm and a modified NM algorithm are used to solve the two-dimensional nonlinear minimization problem. Findings -Simulation experiments have been conducted to validate the numerical algorithm and experimental results show that the numerical algorithm is valid and can achieve good accuracy and high efficiency. Originality/value -This paper proposes an adaptive numerical algorithm for forward kinematics analysis of general Stewart platform.

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