Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Analysis on Kinematic Characteristics of a Machine Tool Parallel Manipulator Using Neural Network

신경망을 이용한 공작기계 병렬 매니퓰레이터의 기구학 특성 분석

  • Published : 2008.06.15
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Abstract

This paper describes the kinematics which is a new type of parallel manipulator, and the neural network is applied to solving the forward kinematics problem. The parallel manipulator called it as a Stewart platform has an easy and unique solution about the inverse kinematics. However, the forward kinematics is difficult to get a solution because of the lack of an efficient algorithm caused by its highly nonlinearity. This paper proposes the neural network scheme of an Newton-Raphson method alternatively. It is found that the neural network can be improved its accuracy by adjusting the offset of the obtained result.

Keywords

References

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