為提高Stewart 平臺位置正解的工程實用性,提出了附加傳感器法和Newton - Raphson 法相結合的6 - 6 Stewart 平臺位置正解法. 該方法應用附加傳感器使平臺的位置正解過程大大簡化;由附加傳感器方法產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,提高了計算速度. 仿真研究表明,與單純的Newton - Raphson 法相比,在相同的計算精度下,該方法具有更好的快速性、可靠性,具有一定的工程應用價值.
關鍵詞: Stewart 平臺;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