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个人信息Personal Information
教授
博士生导师
硕士生导师
主要任职：Professor, Head of Lab of Intelligent System
其他任职：大连市工业无线传感器网络工程实验室主任
性别：男
毕业院校：英国杜伦大学
学位：博士
所在单位：控制科学与工程学院
学科：控制理论与控制工程. 模式识别与智能系统. 检测技术与自动化装置
办公地点：海山楼A0624
课题组网址http://lis.dlut.edu.cn/
联系方式：0411-84709010 wangzl@dlut.edu.cn
电子邮箱：wangzl@dlut.edu.cn
Solving the forward kinematics problem of six-DOF Stewart platform using multi-task Gaussian process
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论文类型：期刊论文
发表时间：2013-01-01
发表刊物：PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
收录刊物：SCIE、EI、Scopus
卷号：227
期号：C1
页面范围：161-169
ISSN号：0954-4062
关键字：Stewart platform; forward kinematics; multi-task learning; Gaussian process
摘要：The forward kinematics problem of general six-degree-of-freedom Stewart platform is addressed in this article. Unlike the convention taking positional variables as independent ones and solving them individually, this article presents an alternative approach which takes the positional variables as multiple-related tasks and exploits the commonality between them using a multi-task Gaussian process learning method, as a result, a simple adaptive algorithm, which may satisfy the requirements for high accuracy and real-time processing, is established. Moreover, the proposed algorithm can achieve the desired accuracy using 1000 training samples at most, which is far less than those of other algorithms. Simulation results on a Stewart platform used in aircraft flight simulation system show that the proposed algorithm can achieve superior performance.