| 基于遗传算法的Stewart并联机器人位置正解分析 |
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| 引用本文： | 郑春红,焦李成.基于遗传算法的Stewart并联机器人位置正解分析[J].西安电子科技大学学报,2003,30(2):165-168. |
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| 作者姓名： | 郑春红 焦李成 |
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| 作者单位： | (西安电子科技大学 雷达信号处理重点实验室，陕西 西安 710071) |
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| 基金项目： | 国家自然科学基金资助项目(60073053,60133010) |
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| 摘 要： | 充分利用Stewart并联机器人位置反解容易获得这一特性，把较难的Stewart并联机器人位置正解问题转化为一个优化问题，考虑到遗传算法的全局优化特性，提出了基于遗传算法的Stewart并联机器人位置正解方法. 仿真实例证明了所提方法具有很高的计算精度，彻底克服了采用数值解法求解Stewart并联机器人位置正解时，解的精度受初值影响较大的缺点.
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| 关 键 词： | 并联机器人 位置正解 位置反解 遗传算法 |
| 文章编号： | 1001-2400(2003)02-0165-04 |
Forward kinematics of a general Stewart parallel manipulator using the genetic algorithm |
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| ZHENG Chun-hong,JIAO Li-cheng.Forward kinematics of a general Stewart parallel manipulator using the genetic algorithm[J].Journal of Xidian University,2003,30(2):165-168. |
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| Authors: | ZHENG Chun-hong JIAO Li-cheng |
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| Affiliation: | (Key Lab. of Radar Signal Processing, Xidian Univ., Xi'an 710071， China) |
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| Abstract: | By making full use of the property that it is easy to obtain the inverse kinematics of the Stewart parallel manipulator, the forward kinematics of the Stewart parallel manipulator is transformed into an optimal problem, and a real coded genetic-based forward kinematics method for the general Stewart parallel manipulator is proposed in this paper. The feasibility of the genetic based forward kinematics method is illustrated with the Stewart fine tuning platform for he next generation large radio telescopes. The high accuracy of the forward kinematics is obtained, which has overcome the shortcoming that the accuracy of the forward kinematics is susceptible to the initial guess values with the conventional numerical methods. |
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| Keywords: | parallel manipulator forward kinematics inverse kinematics genetic algorithm |
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