Forward kinematics analysis of the 6-3 SPM by using neural networks

Yurt S. N., ANLI E., Ozkol I.

MECCANICA, vol.42, no.2, pp.187-196, 2007 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 42 Issue: 2
  • Publication Date: 2007
  • Doi Number: 10.1007/s11012-006-9037-3
  • Journal Name: MECCANICA
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.187-196
  • Istanbul Technical University Affiliated: No

Abstract

A feed-forward neural network has been trained using backpropagation algorithm to solve the forward kinematics problem of the 6-3 Stewart Platform Mechanism (SPM). The forward kinematics problem of the SPM does not have a unique solution since it involves solving a polynomial of order 16. Purely translational, purely rotational and general spatial data sets have been used in training and testing, and then an optimization procedure has been applied to fine-tune the solution. The method yields results fast and accurate enough such that it can be used instead of a gyro and a position sensor for real time control of the mechanism.