The Direct Kinematics Solution of the 6-RSPS Simulator Platform with BP Networks

Abstract:

A new structure of 6-RSPS simulator platform which can be rotated infinitely is presented. The solution of direct kinematics problem of parallel structure is the fundamental problem. For the solution of this problem, according to the links vector diagram, the relationship of the position and orientation of the platform between the length of links and the rotate angle of the under-hinge is derived. BP network is applied, then using the previous data obtained by inverse kinematics as the training data and testing data of BP network, get the direct kinematics solution. Simulation results verified that the solution of direct kinematics applied the BP network can be meet the requirements completely, and the error percentages are within the acceptable range.

• Periodical: Advanced Materials Research (Volumes 591-593)
• Pages: 1593-1598
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.591-593.1593
• Online since: November 2012
• Authors: Jian Jun Li, Yan Ding Wei, Xiao Jun Zhou
• Keywords: 6-RSPS, BP Network, Direct Kinematics, Parallel Structure, Simulator Platform

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