Forward Kinematics Analysis of a Six-Degree-of-Freedom Stewart Platform Based on Independent Component Analysis and Nelder-Mead Algorithm

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	Forward Kinematics Analysis of a Six-Degree-of-Freedom Stewart Platform Based on Independent Component Analysis and Nelder-Mead Algorithm
	Wang ZL(王哲龙); He JJ(贺建军); Gu H(顾宏)
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS
	2011
卷号	41 期号:3 页码:589-597
关键词	Independent component analysis (ICA) kinematics Nelder-Mead (NM) algorithm Stewart platform
ISSN号	1083-4427
产权排序	1
中文摘要	This correspondence paper presents an algorithm in which the independent components of link lengths are used as a medium to analyze the forward kinematics of a six-degree-of-freedom Stewart platform. The link lengths are firstly transformed into independent components through independent component analysis. Then, the value of positional variables is computed by using the Nelder-Mead algorithm by taking advantage of the relationships between the independent components and the positional variables. Simulations have been conducted to test the proposed algorithm. The experimental results show that the proposed algorithm can achieve a better performance than the other published algorithms.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Cybernetics ; Computer Science, Theory & Methods
研究领域[WOS]	Computer Science
关键词[WOS]	GENERAL STEWART ; PARALLEL MANIPULATORS ; STRATEGIES ; NETWORKS
收录类别	SCI ; EI
资助信息	This work was supported in part by the National Natural Science Foundation of China under Grant 60605022, by the Special Public Sector Research Funds for Earthquake Study under Grant 200808075, and by the China Postdoctoral Science Foundation under Grant 20080441102. This paper was recommended by Associate Editor K. Hirota.
语种	英语
WOS记录号	WOS:000289843500017
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7357]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Wang ZL,He JJ,Gu H. Forward Kinematics Analysis of a Six-Degree-of-Freedom Stewart Platform Based on Independent Component Analysis and Nelder-Mead Algorithm[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS,2011,41(3):589-597.
APA	Wang ZL,He JJ,&Gu H.(2011).Forward Kinematics Analysis of a Six-Degree-of-Freedom Stewart Platform Based on Independent Component Analysis and Nelder-Mead Algorithm.IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS,41(3),589-597.
MLA	Wang ZL,et al."Forward Kinematics Analysis of a Six-Degree-of-Freedom Stewart Platform Based on Independent Component Analysis and Nelder-Mead Algorithm".IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS 41.3(2011):589-597.