Study on Forward Kinematics of Stewart Platform Using Neural Network Algorithm together with Newton-Raphson Method

신경망과 뉴톤 랩슨 방법을 이용한 스튜어트 플랫폼의 순기구학 해석에 관한 연구

An effective and practical method is presented for solving the forward kinematics of a 6-DOF Stewart Platform, using neural network algorithm together with Newton-Raphson method. An approximated solution is obtained from trained neural network, then it is used as an initial estimate for Newton-Raphson method. A series of accurate solutions are calculated with reasonable speed for the entire workspace of the platform. The solution procedure can be used for driving a real-time simulation platform.