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

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 results 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 susceptible to the initial values with the conventional numerical methods.