The Research on the Quick Method for 6-DOF Parallel Robot Forward Kinematics

被引：3
|
作者：
Zhang Zhaoyin [1 ]
机构：
[1] Heilongjiang Univ, Comp Sci & Technol Dept, Harbin, Heilongjiang, Peoples R China
来源：
INTELLIGENT SYSTEM AND APPLIED MATERIAL, PTS 1 AND 2 | 2012年 / 466-467卷
关键词：
parallel robot; forward kinematics; Newton-Raphson method; genetic algorithm;
D O I：
10.4028/www.scientific.net/AMR.466-467.849
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
6-DOF parallel robot forward kinematics can be achieved by Newton-Raphson method with more accurancy, but the result depends on the offer of initial value. It can definitely calculate the result by genetic algorithm, however, more evolved algebra is needed to make it more accurate, and sometimes it hardly meets the requirement by concurrent control. This article points to use the result of genetic as the initial value of algorithm, and ultimately make use of iteration to complete the forward kinematics. High accuracy and speed are the main features of this calculation, and another one is interpreting from the implementation point of view, which is very practical and meet the concurrent control through experiment.
引用
收藏
页码：849 / 853
页数：5
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