Application of Improved GA-BPNN Algorithm for Forward Kinematics Problem Solving of Parallel Robots

Parallel robot forward kinematics problem is usually difficult to solve because they involve highly coupled nonlinear systems of equations. In order to solve the forward kinematic solution of the parallel mechanism quickly and accurately, an improved method combining GA-BP and Newton Raphson is prop...

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Bibliographic Details
Published in2022 7th International Conference on Mechatronics System and Robots (ICMSR) pp. 9 - 14
Main Authors Lai, Junhao, Yang, Jiamou, Yan, Jihong
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2022
Subjects
combinatorial algorithm
Computational modeling
forward kinematics
GA-BP
Iterative methods
Kinematics
Newton-Raphson iterative method
Numerical models
parallel robot
Parallel robots
Scattering
Simulation
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Summary:Parallel robot forward kinematics problem is usually difficult to solve because they involve highly coupled nonlinear systems of equations. In order to solve the forward kinematic solution of the parallel mechanism quickly and accurately, an improved method combining GA-BP and Newton Raphson is proposed in this paper for the forward kinematics solution of parallel robots. The method can avoid the defect that the Newton Raphson numerical method is prone to iterative scattering due to improper selection of initial values. It can also improve the computational efficiency and numerical stability. This paper took a 3-RRR planar parallel robot as the research object, first transformed the initial multi-objective solution model into a single-objective optimization model, and then used the method proposed in the paper to solve the forward kinematics problem. Finally, the effectiveness of the method is verified by computational cases and simulation results.
DOI:10.1109/ICMSR2020.2022.00010