光学精密工程2025，Vol.33Issue(23)：3691-3701,11.DOI:10.37188/OPE.20253323.3691
基于粒子滤波的Stewart平台正运动学求解
Solution for forward kinematics of Stewart platform based on particle filter
摘要
Abstract
Pose estimation of a Stewart platform is critical for achieving high-precision motion control,yet its forward kinematics problem remains challenging due to the strong coupling between pose variables and actuator lengths,the pronounced nonlinearity of the governing equations,and the presence of singular con-figurations.Conventional numerical algorithms often exhibit poor convergence and unstable estimation ac-curacy,particularly in proximity to singular regions.To enhance the stability and accuracy of forward kine-matics computation,a novel solution based on a particle filter(PF)is proposed.A state-space model that incorporates both pose variables and actuator lengths is formulated,and probabilistic state inference is per-formed within the PF framework,thereby mitigating estimation difficulties associated with singular config-urations.MATLAB simulations demonstrate that,relative to traditional methods,the proposed algorithm reduces mean absolute error(MAE)by 85.35%-99.43%and root mean square error(RMSE)by 86.98%-99.79%.These results confirm that the proposed approach achieves accurate forward kinematics estimation under complex operating conditions,offering strong adaptability,high robustness,and superior convergence behavior,and indicating substantial potential for practical engineering applications.关键词
并联机构/Stewart平台/正运动学/粒子滤波/强耦合系统/非线性系统Key words
parellel mechanism/Stewart platform/forward kinematics/particle filter/strongly coupled system/nonlinear system分类
信息技术与安全科学引用本文复制引用
LIU Xiaoping,ZENG Hai,ZHANG Lijie,JIANG Xue,CHEN Zening,CHEN Xiafei..基于粒子滤波的Stewart平台正运动学求解[J].光学精密工程,2025,33(23):3691-3701,11.基金项目
河北省自然科学基金资助项目(No.E2024203146) （No.E2024203146）
