Numerical method for solving the forward kinematics to control the Gough-Stewart platform

The article is devoted to the issues of the numerical solution of the forward kinematics of the 6DOF Gough-Stewart platform. The problem was formulated for the related parameters of the position of the actuator rods and the orientation of the upper movable platform in the configuration. Numerical mo...

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Bibliographic Details
Main Authors: Grishin, N. A., Bukharov, K. D., Rybak, L. A., Zhuk, V. A.
Format: Conference Proceeding
Language:English
Subjects:
Actuator position
Algorithms
Inverse kinematics
Mathematical models
Numerical methods
Parameters
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Summary:The article is devoted to the issues of the numerical solution of the forward kinematics of the 6DOF Gough-Stewart platform. The problem was formulated for the related parameters of the position of the actuator rods and the orientation of the upper movable platform in the configuration. Numerical modeling of forward and inverse kinematics is carried out. The analysis of the convergence of the numerical method is carried out and it is shown that the accuracy of solving the forward kinematics using the Levenberg-Marquardt algorithm weakly depends on the initial point of the algorithm; the numerical method has high stability parameters. The results of mathematical modeling are presented. The high speed of solving the forward kinematics of the order of 0.01 seconds makes it possible to use the LM algorithm when creating high-precision high-speed Gough-Stewart platform control systems.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0111959