Jixie chuandong (Mar 2019)
Forward Kinematics Solution of Stewart Platform based on Improved Non-dominated Sorting Genetic Algorithm
Abstract
The kinematics solution of Stewart platform is to figure out the relationship between actuator length and posture of moving platform. The inverse kinematics can be easily derivated by space coordinate transformation. Due to the highly multivariate nonlinear function， the forward kinematics solution method is hard to be both fast and accurate. To figure out a solving method， the Improved Non-dominated Sorting Genetic Algorithm （NSGA-II） combined with Least Square（LS） method algorithm is implemented. The moving platform posture is randomly generated by algorithm and the corresponding length solution is solved by inverse kinematics. While the corresponding length solution fits the known length solution best， the best forward kinematics solution is appeared. According to the example calculating， this algorithm can export the best forward solution within 102 iterations， the output time of a single result is less than 1 min. The RMSE value is lower than 0.1 during 10 times solve. In conclusion， the NSGA-II with LS algorithm is fast and of high accuracy while using on forward solution of parallel platform.
