斯图尔特站台
运动学
反向动力学
正向运动学
趋同(经济学)
运动学方程
控制理论(社会学)
数值分析
职位(财务)
计算机科学
执行机构
理论(学习稳定性)
数学
机器人运动学
人工智能
控制(管理)
数学分析
机器人
物理
经典力学
财务
机器学习
经济
移动机器人
经济增长
作者
N. A. Grishin,Kirill Bukharov,Larisa Rybak,V. A. Zhuk
出处
期刊:Nucleation and Atmospheric Aerosols
日期:2023-01-01
摘要
The article is devoted to the issues of the numerical solution of the forward kinematics of the 6DOF Gough-Stewart platform. The problem was formulated for the related parameters of the position of the actuator rods and the orientation of the upper movable platform in the configuration. Numerical modeling of forward and inverse kinematics is carried out. The analysis of the convergence of the numerical method is carried out and it is shown that the accuracy of solving the forward kinematics using the Levenberg-Marquardt algorithm weakly depends on the initial point of the algorithm; the numerical method has high stability parameters. The results of mathematical modeling are presented. The high speed of solving the forward kinematics of the order of 0.01 seconds makes it possible to use the LM algorithm when creating high-precision high-speed Gough-Stewart platform control systems.
科研通智能强力驱动
Strongly Powered by AbleSci AI