|
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-DOF Stewart platform using PICA and NM algorithm
点击次数：
论文类型：期刊论文
发表时间：2009-01-01
发表刊物：INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
收录刊物：SCIE、EI、Scopus
卷号：36
期号：5
页面范围：448-460
ISSN号：0143-991X
关键字：Programming and algorithm theory; Motion; Mechanics
摘要：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.