一种实用的6 - 6 Stewart平台的实时位置正解法

为提高Stewart 平台位置正解的工程实用性,提出了附加传感器法和Newton - Raphson 法相结合的6 - 6 Stewart 平台位置正解法. 该方法应用附加传感器使平台的位置正解过程大大简化;由附加传感器方法产生的位置正解可以为Newton - Raphson 迭代法提供较可靠的迭代初始值,可显著改善Newton - Raphson法的收敛性,并减少了迭代次数,提高了计算速度. 仿真研究表明,与单纯的Newton - Raphson 法相比,在相同的计算精度下,该方法具有更好的快速性、可靠性,具有一定的工程应用价值.
关键词: Stewart 平台;位置正解;附加传感器;Newton2Raphson 法
Abstract : The forward kinematics of general 6 - 6 Stewart platforms is an open problem att racting re2 searchers all over the world. It would be a hard time to solve the problem by getting the closed form solu2 tions. A Newton2Raphson method , which is widely used today is not reliable in convergence. A pragmatic hybrid method combining additional sensors method and Newton2Raphson iteration algorithm is presented. Aided by three additional t ranslational sensors , the forward kinematics will be simplified significantly , so that a reasonable initial value will be achieved for Newton2Raphson iteration processing to get improved con2 vergence and shorter iteration time. A simulation study is carried out to demonst rate the rapidity and relia2 bility with satisfied accuracy of this hybrid method.
Key words : Stewart platform; forward kinematics ; additional sensors ; Newton2Raphson iteration algorithm