کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
380713 | 1437456 | 2013 | 9 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Solving the forward kinematics problem in parallel robots using Support Vector Regression Solving the forward kinematics problem in parallel robots using Support Vector Regression](/preview/png/380713.png)
The Stewart platform, a representative of the class of parallel manipulators, has been successfully used in a wide variety of fields and industries, from medicine to automotive. Parallel robots have key benefits over serial structures regarding stability and positioning capability. At the same time, they present challenges and open problems which need to be addressed in order to take full advantage of their utility. In this paper, we propose a new approach for solving one of these key aspects: the solution to the forward kinematics in real-time, an under-defined problem with a high-degree nonlinear formulation, using a popular machine learning method for classification and regression, the Support Vector Machines. Instead of solving a numerical problem, the proposed method involves applying Support Vector Regression to model the behavior of a platform in a given region or partition of the pose space. It consists of two phases, an off-line preprocessing step and a fast on-line evaluation phase. The experiments made have yielded a good approximation to the analytical solution, and have shown its suitability for real-time application.
Journal: Engineering Applications of Artificial Intelligence - Volume 26, Issue 7, August 2013, Pages 1698–1706