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2003•Journal of Xidian UniversityRequires access

Forward kinematics of a general Stewart parallel manipulator using the genetic algorithm

Zheng Chun

Open publisher page 9 citations

Abstract

By making full use of the property that it is easy to obtain the inverse kinematics of the Stewart parallel manipulator, the forward kinematics of the Stewart parallel manipulator is transformed into an optimal problem, and a real coded geneticbased forward kinematics method for the general Stewart parallel manipulator is proposed in this paper. The feasibility of the genetic based forward kinematics method is illustrated with the Stewart fine tuning platform for the next generation large radio telescopes. The high accuracy of the forward kinematics is obtained, which has overcome the shortcoming that the accuracy of the forward kinematics is susceptible to the initial guess values with the conventional numerical methods.

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What this paper is about

By making full use of the property that it is easy to obtain the inverse kinematics of the Stewart parallel manipulator, the forward kinematics of the Stewart parallel manipulator is transformed into an optimal problem, and a real coded geneticbased forward kinematics method for the general Stewart parallel manipulator is proposed in this paper. The feasibility of the genetic based forward kinematics method is illustrated with the Stewart fine tuning platform for the next generation large radio telescopes. The high accuracy of the forward kinematics is obtained, which has overcome the shortcoming that the accuracy of the forward kinematics is susceptible to the initial guess values with the conventional numerical methods.

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OpenAlex reports 9 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

By making full use of the property that it is easy to obtain the inverse kinematics of the Stewart parallel manipulator, the forward kinematics of the Stewart parallel manipulator is transformed into an optimal problem, and a real coded geneticbased forward kinematics method for the general Stewart parallel manipulator is proposed in this paper. The feasibility of the genetic based forward kinematics method is illustrated with the Stewart fine tuning platform for the next generation large radio telescopes. The high accuracy of the forward kinematics is obtained, which has overcome the shortcoming that the accuracy of the forward kinematics is susceptible to the initial guess values with the conventional numerical methods.

Key concepts: Kinematics, Inverse kinematics, Stewart platform, Forward kinematics, Parallel manipulator, Kinematics equations, Computer science, Genetic algorithm

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