48 / 2015-12-28 00:00:04

Research on real-time kinematics algorithm based on 3-RRR spherical parallel mechanism

neural network，parallel mechanism, haptic joystick, forward kinematics

In the forward kinematics method for solving 3-RRR spherical parallel mechanism, the traditional analytical method is difficult to meet the real-time control of spacecraft power demand interactive feedback device. Through a comparative analysis based on the numerical solution of the Newton-Raphson iteration method and algorithm based on neural network.A “Rough Estimation-Accurate Calculation” structure algorithm based on workspace division and neural network is proposed, which greatly increases the computing accuracy and speed and is suitable for a spacecraft interactive force feedback device，and Applied for for embedded control system with fewer hardware resources.