基于BP神经网络的Stewart平台位姿正解算法研究

Research of the Pose Forward Solution Algorithm of Stewart Platform based on BP Neural Network

针对Stewart平台位姿正解,数值解法计算速度较慢,迭代初始值选取不当可能得不到位姿正解等问题。采用BP神经算法解算解决上述问题,仿真和实验结果表明该方法快速有效。

Aiming at the problem of low speed of using numerical methods to solve the Stewart platform position and attitude forward solution and the initial value of improper selection may not obtain the forward solu- tion, the BP neural networks algorithm is used for solving those problems. The experiment and simulation re- sults show that this method is fast and effective.