為提高Stewart 平臺(tái)位置正解的工程實(shí)用性,提出了附加傳感器法和Newton - Raphson 法相結(jié)合的6 - 6 Stewart 平臺(tái)位置正解法. 該方法應(yīng)用附加傳感器使平臺(tái)的位置正解過(guò)程大大簡(jiǎn)化;由附加傳感器方法產(chǎn)生的位置正解可以為Newton - Raphson 迭代法提供較可靠的迭代初始值,可顯著改善Newton - Raphson法的收斂性,并減少了迭代次數(shù),提高了計(jì)算速度. 仿真研究表明,與單純的Newton - Raphson 法相比,在相同的計(jì)算精度下,該方法具有更好的快速性、可靠性,具有一定的工程應(yīng)用價(jià)值.
關(guān)鍵詞: Stewart 平臺(tái);位置正解;附加傳感器;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