| 제목 |
신경망과 뉴톤 랩슨 방법을 이용한 스튜어트 플랫폼의 순기구학 해석에 관한 연구 |
| 분야 |
생산기술 |
| 언어 |
Korean |
| 저자 |
손권(부산대학교), 구상화(부산대학교) |
| Key Words |
Neural network(신경망), Stewart platform(스튜어트 플랫폼), Forward kinematics(순기구학), Inverse kinematics(역기구학) |
| 초록 |
An effective and practical method is presented for solving the forward kinematics of a 6-DOF Stewart Platform, using neural network algorithm together with Newton-Raphson method. An approximated solution is obtained from trained neural network, then it is used as an intial estimate for Newton-Raphson method. A series of accurate solutions are calculated with reasonable speed for the entire workspace of the platform. The solution procedure can be used for driving a real-time simulation platform. |
| 원문(PDF) |
다운로드
|
