Forward kinematics solution of Stewart platform using neural networks

Yee, C.-S.; Lim, Kah Bin

doi:10.1016/s0925-2312(97)00048-9

Cited by 73 publications

(37 citation statements)

References 19 publications

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“…Yee combined iterative techniques with NN methods to utilize the high accuracy of iterative methods and fast computing speed of the NN methods [24,25]. Kang proposed an NN method combined with PSO algorithm to solve the kinematics of a hybrid robot to achieve high accuracy and low computational time [16].…”

Section: Nn Approachesmentioning

confidence: 99%

Real-time solution of the forward kinematics for a parallel haptic device using a numerical approach based on neural networks

et al. 2015

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This paper proposes a neural network (NN)-based approach to solve the forward kinematics of a 3-RRR spherical parallel mechanism designed for a haptic device. The proposed algorithm aims to remarkably speed up computation to meet the requirement of highfrequency rendering for haptic display. To achieve high accuracy, the workspace of the haptic device is divided into smaller subspaces. The proposed algorithm contains NNs of two different precision levels: a rough estimation NN to identify the index of the subspace and several precise estimation networks with expected accuracy to calculate the forward kinematics. For continuous motion, the algorithm structure is further simplified to save internal memory and increase computing speed, which are critical for a haptic device control system running on an embedded platform. Compared with the mostly used Newton-Raphson method, the proposed algorithm and its simplified version greatly increase the calculation speed by about four times and 10 times, respectively, while achieving the same accuracy level. The proposed approach is of great significance for solving the forward kinematics of parallel mechanism used as haptic devices when high update frequency is needed but hardware resources are limited.

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Section: Nn Approachesmentioning

confidence: 99%

Real-time solution of the forward kinematics for a parallel haptic device using a numerical approach based on neural networks

et al. 2015

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“…A floating point GA (Genetic Algorithm) using IK analysis has been proposed by (Boudreau and Turkkan 1996) to solve FK problem, formulating it as an optimization problem. A simple feed forward network has been used by (Yee and Lim 1997) and an accuracy of 0.017 0 and 0.017mm, in predicting end effector pose, has been achieved. NN tuned FK model has also been used by (Oyama et al 2002) in visually guided hand position control.…”

Section: Forward Kinematicsmentioning

confidence: 99%

Multi-Criteria Optimal Design of Cable Driven Ankle Rehabilitation Robot

Jamwal¹,

Xie²,

Aw³

et al. 2009

Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions

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“…There have also been other attempts at using wavelets for NNs, with the learning algorithms that are different from wave-nets (Szu et al, 1992). Some researchers have tried using neural networks for solving the FKP of parallel robots (Geng et al, 1992), (Yee, 1997). Almost all of prior researches have focused on using ANNs approach to solve FKP of Stewart platform.…”

Section: Review Of Forward Kinematics Problem Of Parallel Robotmentioning

confidence: 99%