A Solution for Forward Kinematics of 3-RSR Parallel Robot Based on BP Algorithm

The solution for forward kinematics is one of the hard questions in solving the robot's kinematics. Analytical method and numerical method are two common methods for solving. But both of them are very complicated and hard,when using them to solve the system of nonlinear equations,the solution isn't unique. Based on the BP net work,Using the results of the position inverse solution,through the study of training,the nonlinear mapping of the manipulators from the joint variables space to work variables space is obtained. Thus the forward kinematics solution of 3-RSR parallel robot is obtained. This method avoids the complicated derivation and calculation,The computer simulation and experimental results show the effectiveness and feasibility of the method.