Forward kinematics analysis of the 6-3 SPM by using neural networks

S. N. Yurt, E. Anli, I. Ozkol*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

27 Citations (Scopus)

Abstract

A feed-forward neural network has been trained using backpropagation algorithm to solve the forward kinematics problem of the 6-3 Stewart Platform Mechanism (SPM). The forward kinematics problem of the SPM does not have a unique solution since it involves solving a polynomial of order 16. Purely translational, purely rotational and general spatial data sets have been used in training and testing, and then an optimization procedure has been applied to fine-tune the solution. The method yields results fast and accurate enough such that it can be used instead of a gyro and a position sensor for real time control of the mechanism.

Original languageEnglish
Pages (from-to)187-196
Number of pages10
JournalMeccanica
Volume42
Issue number2
DOIs
Publication statusPublished - Apr 2007

Keywords

  • Kinematics
  • Neural networks
  • Parallel mechanism
  • Stewart platform mechanism

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