Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic Algorithm
The kinematics solution of Stewart platform is to figure out the relationship between actuator length and posture of moving platform. The inverse kinematics can be easily derivated by space coordinate transformation. Due to the highly multivariate nonlinear function， the forward kinematics solution...
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Editorial Office of Journal of Mechanical Transmission
2019-03-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.009 |
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| author | Qiguo Hu Yanli Luo Yuqian Wang |
| author_facet | Qiguo Hu Yanli Luo Yuqian Wang |
| author_sort | Qiguo Hu |
| collection | DOAJ |
| description | The kinematics solution of Stewart platform is to figure out the relationship between actuator length and posture of moving platform. The inverse kinematics can be easily derivated by space coordinate transformation. Due to the highly multivariate nonlinear function， the forward kinematics solution method is hard to be both fast and accurate. To figure out a solving method， the Improved Non-dominated Sorting Genetic Algorithm （NSGA-II） combined with Least Square（LS） method algorithm is implemented. The moving platform posture is randomly generated by algorithm and the corresponding length solution is solved by inverse kinematics. While the corresponding length solution fits the known length solution best， the best forward kinematics solution is appeared. According to the example calculating， this algorithm can export the best forward solution within 102 iterations， the output time of a single result is less than 1 min. The RMSE value is lower than 0.1 during 10 times solve. In conclusion， the NSGA-II with LS algorithm is fast and of high accuracy while using on forward solution of parallel platform. |
| format | Article |
| id | doaj-art-ef8f0adffefa4688a92b5dffcb653b69 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2019-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-ef8f0adffefa4688a92b5dffcb653b692025-01-10T14:01:41ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392019-03-0143485330640439Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic AlgorithmQiguo HuYanli LuoYuqian WangThe kinematics solution of Stewart platform is to figure out the relationship between actuator length and posture of moving platform. The inverse kinematics can be easily derivated by space coordinate transformation. Due to the highly multivariate nonlinear function， the forward kinematics solution method is hard to be both fast and accurate. To figure out a solving method， the Improved Non-dominated Sorting Genetic Algorithm （NSGA-II） combined with Least Square（LS） method algorithm is implemented. The moving platform posture is randomly generated by algorithm and the corresponding length solution is solved by inverse kinematics. While the corresponding length solution fits the known length solution best， the best forward kinematics solution is appeared. According to the example calculating， this algorithm can export the best forward solution within 102 iterations， the output time of a single result is less than 1 min. The RMSE value is lower than 0.1 during 10 times solve. In conclusion， the NSGA-II with LS algorithm is fast and of high accuracy while using on forward solution of parallel platform.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.009Stewart platformForward kinematics solutionImproved non-dominated sorting genetic algorithmLeast square theory |
| spellingShingle | Qiguo Hu Yanli Luo Yuqian Wang Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic Algorithm Jixie chuandong Stewart platform Forward kinematics solution Improved non-dominated sorting genetic algorithm Least square theory |
| title | Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic Algorithm |
| title_full | Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic Algorithm |
| title_fullStr | Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic Algorithm |
| title_full_unstemmed | Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic Algorithm |
| title_short | Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic Algorithm |
| title_sort | forward kinematics solution of stewart platform based on improved non dominated sorting genetic algorithm |
| topic | Stewart platform Forward kinematics solution Improved non-dominated sorting genetic algorithm Least square theory |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2019.03.009 |
| work_keys_str_mv | AT qiguohu forwardkinematicssolutionofstewartplatformbasedonimprovednondominatedsortinggeneticalgorithm AT yanliluo forwardkinematicssolutionofstewartplatformbasedonimprovednondominatedsortinggeneticalgorithm AT yuqianwang forwardkinematicssolutionofstewartplatformbasedonimprovednondominatedsortinggeneticalgorithm |