基于BP算法的六自由度并联机器人正运动学求解  

A Solution for Forward Kinematics of 6-DOF Parallel Platform based on BP Algorithm

作　　者：刘得军[1] 王娟[1] 王世营[1] 董德发[1] 

机构地区：[1]大庆石油学院,黑龙江大庆163318

出　　处：《组合机床与自动化加工技术》2006年第1期35-37,44,共4页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：黑龙江省研究生创新科研项目(YJSCX2005-79HLJ);黑龙江省普通高等学校骨干教师创新能力资助计划项目(1054G004);黑龙江省教育厅科学技术研究项目(10551002)

摘　　要：利用六自由度并联机器人位置反解易于获得这一特性,把较难的六自由度并联机器人位置正解问题转化为应用位置反解结果作为训练样本进行学习,从而实现操作手从关节变量空间到工作变量空间的非线性映射,这样就能够较准确地求解并联机器人的位置和姿态。文中以Stewart型并联机器人为例,采用BP算法对其正解进行了求解,仿真结果表明该方法计算精度高,克服了数值解法的求解精度受初值影响较大的缺点。Making use of the property that it is easy to obtain the inverse kinematics of 6-DOF parallel manipulator, the forward kinematics of the 6-DOF parallel manipulator is transformed into using inversed kinematics resuits through training and learning. The nonlinear mapping from the joint variable space to the operation variable space for the platform is accomplished solving the positions and orientations. Take the Stewart parallel manipulator as example, the BP algorithm is used to solve the forward kinematics of it, and the high accuracy of the forward kinematics is obtained by computer simulation, which has overcome the short-coming that the accuracy of the forward kinematics is susccptible to the initial values with the conventional numerical methods.

关 键 词：Stewart型并联机器人 位置正解 BP神经网络 位置反解 

分 类 号：TG65[金属学及工艺—金属切削加工及机床] TP242[自动化与计算机技术—检测技术与自动化装置]