Solving the Forward Kinematics of Cable-Driven Parallel Robots with Neural Networks and Interval Arithmetic
作者： Valentin Schmidt , Bertram Müller , Andreas Pott
DOI: 10.1007/978-94-007-7214-4_12
关键词:
摘要: This paper investigates a new approach for solving the forward kinematics of cable-driven parallel robots. combines an interval algorithm with neural networks to provide fast but accurate initial guess. The increase computation speed by factor 200 or more, while provides guaranteed convergence and definite solution any chosen degree accuracy. Iterative techniques are faster still, proposed is considered real-time feasible.
springer.com
sci-hub.st 参考文章(14)
Paul Bosscher, Robert L. Williams, L. Sebastian Bryson, Daniel Castro-Lacouture, Cable-suspended robotic contour crafting system Automation in Construction. ,vol. 17, pp. 45- 55 ,(2007) , 10.1016/J.AUTCON.2007.02.011
M.L. Husty, An algorithm for solving the direct kinematics of general Stewart-Gough platforms Mechanism and Machine Theory. ,vol. 31, pp. 365- 379 ,(1996) , 10.1016/0094-114X(95)00091-C
J. -P. Merlet, Solving the Forward Kinematics of a Gough-Type Parallel Manipulator with Interval Analysis: The International Journal of Robotics Research. ,vol. 23, pp. 221- 235 ,(2004) , 10.1177/0278364904039806
Frédéric Goualard, Fast and Correct SIMD Algorithms for Interval Arithmetic PARA '08. ,(2008)
Tobias Bruckmann, Andreas Pott, Cable-driven parallel robots Springer Berlin Heidelberg. ,(2013) , 10.1007/978-3-319-09489-2
Andreas Pott, An Algorithm for Real-Time Forward Kinematics of Cable-Driven Parallel Robots Springer, Dordrecht. pp. 529- 538 ,(2010) , 10.1007/978-90-481-9262-5_57
Seyed Ahmad Khalilpour, Azadeh Zarif Loloei, Hamid D. Taghirad, Mehdi Tale Masouleh, Feasible Kinematic Sensitivity in Cable Robots Based on Interval Analysis Mechanisms and Machine Science. pp. 233- 249 ,(2013) , 10.1007/978-3-642-31988-4_15
Alessandro Berti, Jean-Pierre Merlet, Marco Carricato, Solving the Direct Geometrico-Static Problem of 3-3 Cable-Driven Parallel Robots by Interval Analysis: Preliminary Results Mechanisms and Machine Science. ,vol. 12, pp. 251- 268 ,(2013) , 10.1007/978-3-642-31988-4_16
Sergey P. Shary, Interval gauss-seidel method for generalized solution sets to interval linear systems Reliable Computing. ,vol. 7, pp. 141- 155 ,(2001) , 10.1023/A:1011422215157
Christoph Bergmeir, José M. Benítez, Neural Networks inRUsing the Stuttgart Neural Network Simulator:RSNNS Journal of Statistical Software. ,vol. 46, pp. 1- 26 ,(2012) , 10.18637/JSS.V046.I07