A hybrid strategy to solve the forward kinematics problem in parallel manipulators

IEEE Transactions on Robotics

Volumn 21, Issue 1, 2005, Pages 18-25

  Parikh, Pratik J ^a   Lam, Sarah S Y ^b  

^a VIRGINIA POLYTECHNIC INSTITUTE AND STATE UNIVERSITY   (United States)

^b BINGHAMTON UNIVERSITY   (United States)

Author keywords

Kinematics; Multilayer perceptrons; Neural networks; Newton Raphson method

Indexed keywords

ALGORITHMS; BACKPROPAGATION; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; INVERSE KINEMATICS; LEARNING SYSTEMS; MATHEMATICAL MODELS; MULTILAYER NEURAL NETWORKS; NUMERICAL METHODS;

FORWARD KINEMATICS PROBLEM; INVERSE KINEMATICS PROBLEM; NEWTON-RAPHSON METHOD; PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 14044252813     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.833801     Document Type: Article

References (22)

1. J. P. Merlet, "Parallel manipulators: State of the art and perspectives," Adv. Robot., vol. 8, no. 6, pp. 589-598, 1994.
2. K. J. Waldron, M. Raghavan, and B. Roth, "Kinematics of a hybrid series-parallel manipulation system," J. Dynam. Syst., Meas., Contr. vol. 111, no. 2, pp. 211-221, 1989.
3. P. Nanua, K. J. Waldron, and V. Murthy, "Direct kinematic solution of a Stewart platform," IEEE Trans. Robot. Automat., vol. 6, pp. 438-444, Aug. 1990.
4. K. Liu, J. M. Fitzgerald, and F. L. Lewis, "Kinematic analysis of a Stewart platform manipulator," IEEE Trans. Ind. Electron., vol. 40, pp. 282-293, Feb. 1993.
5. C. Innocenti and V. Parenti-Castelli, "Direct kinematics of the 6-4 fully parallel manipulator with position and orientation decoupled," in Robotic Systems, S. G. Tzafestas, Ed. Norwell, MA: Kluwer, 1992, pp. 3-10.
6. P Stewart platform," IEEE Trans. Robot. Automat., vol. 17, pp. 522-526, Aug. 2001.
7. J. E. Dieudonne, R. V. Parrish, and R. E. Bardusch, "An actuator extension transformation for a motion simulator and an inverse transformation applying Newton Raphson's method," NASA Langley Research Center, Hampton, VA, Tech. Rep. NASA TND-7067, 1972.
8. J. P. Merlet, "Direct kinematics of parallel manipulator," IEEE Trans. Robot. Automat., vol. 9, pp. 842-846, Dec. 1993.
9. C. C. Nguyen, Z. L. Zhou, S. S. Antrazi, and C. E. Campbell, Jr., "Efficient computation of forward kinematics and Jacobian matrix of a Stewart platform-based manipulator," in Proc. IEEE Southeastcon Conf., 1991, pp. 869-874.
10. R. Stoughton and T. Arai, "Optimal sensor placement for forward kinematics evaluation of a 6-DOF parallel link manipulator," in Proc. IEEE/RSJ Int. Workshop Intelligent Robots, Systems, 1991, pp. 785-790.
11. K. Han, W. Chung, and Y. Youm, "Local structurization for the forward kinematics of parallel manipulators using extra sensor data," in Proc. IEEE Int. Conf. Robotics, Automation, 1995, pp. 514-520.
12. K. E. Zanganeh and J. Angeles, "Real-time direct kinematics of general six-degree-of-freedom parallel manipulators with minimum-sensor data," J. Robot. Syst., vol. 12, no. 12, pp. 833-844, 1995.
13. Z. Geng and L. S. Haynes, "Neural network solution for the forward kinematics problem of a Stewart platform," Robot. Comput. Integrat. Manufact., vol. 9, no. 6, pp. 485-495, 1992.
14. C. S. Yee and K. B. Lim, "Forward kinematics solution of Stewart platform using neural networks," Neurocomputing, vol. 16, no. 4, pp. 333-349, 1997.
15. S. Haykin, Neural Networks: A Comprehensive Foundation, 2nd ed. Englewood Cliffs, NJ: Prentice-Hall, 1999.
16. G. D. Garson, Neural Networks: An Introductory, Guide for Social Scientists. Newbury Park, CA: Sage, 1998.
17. K. M. Hornik, M. Stinchcombe, and H. White, "Multilayer feedforward networks are universal approximators," Neural Networks, vol. 2, pp. 359-366, 1989.
18. A. Guez and Z. Ahmad, "Accelerated convergence in the inverse kinematics via multilayer feedforward networks," in Proc. IJCNN, 1989, pp. 341-344.
19. M. Ascher, "Cycling in the Newton-Raphson algorithm," Int. J. Math. Educat. Sci. Technol., vol. 5, no. 2, pp. 229-235, 1974.
20. NASA Langley Research Center. (2003, May) Vision motion simulator. Online. Available: http://www-sdb.larc.nasa.gov/Simulations/Simulators/ simulators.html
21. R. V. Parrish, J. E. Dieudonne, and D. J. Martin Jr., "Motion software for a synergistic six-degree-of-freedom motion base," NASA Langley Research Center, Hampton, VA, Tech. Rep. NASA TND-7350, 1973.
22. P. J. Parikh, C. H. Lin, and S. S. Y. Lam, "Approximating the forward kinematics solution of a Stewart platform using two concepts in neural networks," in Proc. Artificial Neural Networks in Engineering Conf. 2002, pp. 847-852.