A Self-Tuning Iterative Calculation Approach for the Forward Kinematics of a Stewart-Gough Platform

摘要

In order to solve the forward kinematics problem of a Stewart-Gough platform, we propose a self-tuning iterative calculation approach based on the inverse kinematics of the Stewart-Gough platform and the self-tuning method. The novelty of this approach is the use of two weighting factors, which are constructed via an exponential attenuation function by using the self-tuning method. With the employment of these two weighting factors, the number of iterative calculations is significantly reduced, and the efficiency of the proposed approach is thus substantially improved. Moreover, for convenience of implementation, the relationship between the values of the weighting factors and the number of iterative calculations is analyzed, and the values of the weighting factors are determined. Finally, simulation results demonstrate that the proposed approach can significantly improve calculation efficiency and reduce the tune required for calculations compared with conventionally used iterative approaches.