中国电子科技2006，Vol.4Issue(2)：173-180,8.
A Mixed Real-time Algorithm for the Forward Kinematics of Stewart Parallel Manipulator
A Mixed Real-time Algorithm for the Forward Kinematics of Stewart Parallel Manipulator
WANG Sun-an 1WAN Ya-min1
作者信息
- 1. Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System, Xi'an Jiaotong University Xi'an 710049 China
- 折叠
摘要
Abstract
Aimed at the real-time forward kinematics solving problem of Stewart parallel manipulator in the control course, a mixed algorithm combining immune evolutionary algorithm and numerical iterative scheme is proposed. Firstly taking advantage of simpleness of inverse kinematics, the forward kinematics is transformed to an optimal problem. Immune evolutionary algorithm is employed to find approximate solution of this optimal problem in manipulator's workspace. Then using above solution as iterative initialization, a speedy numerical iterative scheme is proposed to get more precise solution. In the manipulator running course, the iteration initialization can be selected as the last period position and orientation. Because the initialization is closed to correct solution, solving precision is high and speed is rapid enough to satisfy real-time requirement. This mixed forward kinematics algorithm is applied to real Stewart parallel manipulator in the real-time control course. The examination result shows that the algorithm is very efficient and practical.关键词
stewart parallel manipulator/forward kinematics/immune evolutionary algorithm/numerical iterative scheme/real-time controlKey words
stewart parallel manipulator/forward kinematics/immune evolutionary algorithm/numerical iterative scheme/real-time control分类
信息技术与安全科学引用本文复制引用
WANG Sun-an,WAN Ya-min..A Mixed Real-time Algorithm for the Forward Kinematics of Stewart Parallel Manipulator[J].中国电子科技,2006,4(2):173-180,8.
