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论文类型：期刊论文

发表时间：2011-05-01

发表刊物：IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS

收录刊物：SCIE、EI

卷号：41

期号：3

页面范围：589-597

ISSN号：1083-4427

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

摘要：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.