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Indexed by:期刊论文

Date of Publication:2011-05-01

Journal:IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS

Included Journals:SCIE、EI

Volume:41

Issue:3

Page Number:589-597

ISSN No.:1083-4427

Key Words:Independent component analysis (ICA); kinematics; Nelder-Mead (NM) algorithm; Stewart platform

Abstract:This correspondence paper presents an algorithm in which the independent components of link lengths are used as a medium to analyze the forward kinematics of a six-degree-of-freedom Stewart platform. The link lengths are firstly transformed into independent components through independent component analysis. Then, the value of positional variables is computed by using the Nelder-Mead algorithm by taking advantage of the relationships between the independent components and the positional variables. Simulations have been conducted to test the proposed algorithm. The experimental results show that the proposed algorithm can achieve a better performance than the other published algorithms.