摘要
为提高六自由度Stewart并联机构正解的计算效率,将变搜索原点的牛顿迭代方法用于运动学位置正解当中。给出了并联机构运动学反解及牛顿迭代正解方法的计算方法,分析了变搜索原点迭代正解方法的原理及实际使用中的可行性,给出了计算流程。最后通过对比的仿真计算验证算法的计算精度及计算效率。结果显示,在保证相同精度的前提下,变搜索原点方法相比于传统迭代方法能够减少计算过程中的迭代步数,从而提高了计算效率。该方法可用于实时运动控制。
In order to improve computational efficiency of the forward kinematic problem for six degrees of freedom Stewart platform,the Newton iterative method with dynamically changed search origin was applied to the dynamic position. Inverse kinematics solution function and Newton iterative method for forward kinematics problem were introduced. Principle and feasibility of the iterative method with dynamic search origin are analyzed,and the calculation process was introduced. Contrast simulation test was taken to verify the calculation accuracy and efficiency.The result shows that the iterative method with dynamic search origin reduces the iteration steps while the calculation accuracy is the same as Newton iterative method. The iterative method can be used in real-time motion control.
出处
《应用科技》
CAS
2016年第2期54-58,共5页
Applied Science and Technology
关键词
并联机构
运动学正解
牛顿迭代法
Stewart platform
forward kinematics
Newton iterative method
作者简介
杨恒（1991-），男，硕士研究生；通信作者：杨恒，E—mail：chailiyh@126．com．
薛开（1964-），男，教授，博士．
