Title :
Forward Kinematics Analysis of the Stewart Parallel Platform Based on the Elman Recurrent Network
Author :
Xinxin Guo ; Guixi Ke ; Fengwu Zheng ; Lijie Zhang
Author_Institution :
Yichang Testing Technol. Inst., Yichang, China
Abstract :
Aimed at the forward kinematics of the Stewart parallel platform, the paper solves it applying the Elman recurrent network. A training sample and a verifying sample are obtained by using the inverse kinematics of the Stewart parallel platform. And the natural functions of MATLAB are used well to train and verify the Elman recurrent network. Eventually, the simulation result shows that this method possesses the approximation effect.
Keywords :
manipulator kinematics; mathematics computing; neurocontrollers; recurrent neural nets; Elman recurrent network; MATLAB; Stewart parallel platform; forward kinematics analysis; inverse kinematics; Approximation methods; Kinematics; MATLAB; Mathematical model; Mean square error methods; Training; Vectors; MATLAB simulation; The Stewart parallel platform; forward kinematics; the Elman recurrent network;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-0-7695-5011-4
DOI :
10.1109/IHMSC.2013.189
