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首页> 外文会议>2012 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems. >An continuous on-line estimation algorithm of forward kinematics of parallel mechanisms
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An continuous on-line estimation algorithm of forward kinematics of parallel mechanisms

机译：并联机构正向运动学的连续在线估计算法

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摘要

It is difficult to obtain analytical solution to forward kinematics for parallel mechanism, and the speed of the solution based on conventional numerical solution method is lower, and hard to achieve real-time performance in motion control. In this paper, in order to avoid the two problems, a continuous on-line estimation algorithm was proposed to approach the forward kinematics analytical solution exponentially. Taking the Stewart platform as example, its kinematics model was built, and then according a complex motion trajectory of moving platform given, the driving displacement of actuated joints was solved by inverse kinematics method, and then based on the driving displacement trajectory of actuated joints, using the continuous on-line estimation algorithm, the forward kinematics solution was obtained, the simulation results showed that the continuous on-line estimation algorithm can not only completely ensure real-time performance, but also attain very high accuracy, and so the continuous on-line estimation algorithm for forward kinematics can be applied in motion control of parallel mechanisms.
机译：并联机构正向运动学很难获得解析解，基于传统数值解法的解速度较低，难以实现运动控制的实时性。为了避免这两个问题，提出了一种连续在线估计算法，以指数方式求解正向运动学解析解。以斯图尔特平台为例，建立其运动学模型，然后根据给定的运动平台的复杂运动轨迹，通过逆运动学方法求解被驱动关节的驱动位移，然后基于被驱动关节的驱动位移轨迹，利用连续在线估计算法，得到了正向运动学解，仿真结果表明，连续在线估计算法不仅可以完全保证实时性，而且可以达到很高的精度，因此连续正向运动学的在线估计算法可应用于并联机构的运动控制。

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