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 language | English |
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Pages (from-to) | 187-196 |
Number of pages | 10 |
Journal | Meccanica |
Volume | 42 |
Issue number | 2 |
DOIs | |
Publication status | Published - Apr 2007 |
Keywords
- Kinematics
- Neural networks
- Parallel mechanism
- Stewart platform mechanism