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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
Forward Kinematics Analysis of a Six-Degree-of-Freedom Stewart Platform Based on Independent Component Analysis and Nelder-Mead Algorithm
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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.