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计算机系统应用:2020,29(9):95-101
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基于Elman神经网络的Stewart平台位姿正解
(浙江理工大学 机械与自动控制学院, 杭州 310018)
Forward Kinematics Solution of Stewart Platform Based on Elman Neural Network
(Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China)
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投稿时间:2019-12-14    修订日期:2020-01-07
中文摘要: Stewart平台广泛应用于运动模拟器、光学、精密定位等领域,然而由于复杂的多元非线性使得位姿正解难以准确得到.针对Stewart平台的位姿正解问题,常规的方法比如迭代法和数值法存在初始值难以选取、计算速度较慢等问题,提出了基于Elman神经网络的位姿正解方法.首先建立Stewart平台支腿长度与平台位姿的运动学模型,然后利用Elman神经网络来实现位姿正解的求解并实验验证.该方法具有良好的动态特性,精度高,能够快速准确的实现Stewart平台位姿正解的求解.实验证明了该方法的有效性.
Abstract:The Stewart platform is widely used in motion simulator, optics, precision positioning, and other fields. However, due to the complex multivariate nonlinearity, it is difficult to accurately obtain the forward kinematics solution. Aiming at the problem of forward kinematics solution of Stewart platform, conventional methods such as iterative method and numerical method have problems such as difficulty in selecting initial values and slow calculation speed, a forward kinematics solution method based on Elman neural network is proposed. First, the kinematics model of the leg length and platform kinematics of the Stewart platform is established, and then the Elman neural network is used to solve the forward kinematics solution and experimentally verify it. This method has sound dynamic characteristics, high accuracy, and can quickly and accurately solve the forward kinematics solution of Stewart platform. Experiments prove the effectiveness of the method.
文章编号:7501     中图分类号:    文献标志码:
基金项目:国家自然科学基金(61273184)
引用文本:
何亚林,赵新龙.基于Elman神经网络的Stewart平台位姿正解.计算机系统应用,2020,29(9):95-101
HE Ya-Lin,ZHAO Xin-Long.Forward Kinematics Solution of Stewart Platform Based on Elman Neural Network.COMPUTER SYSTEMS APPLICATIONS,2020,29(9):95-101

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