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Analysis on Kinematic Characteristics of a Machine Tool Parallel Manipulator Using Neural Network  

Lee, Je-Sub (LG 필립스)
Ko, Jun-Bin (한밭대학교 기계설계공학과)
Publication Information
Transactions of the Korean Society of Machine Tool Engineers / v.17, no.3, 2008 , pp. 1-7 More about this Journal
Abstract
This paper describes the kinematics which is a new type of parallel manipulator, and the neural network is applied to solving the forward kinematics problem. The parallel manipulator called it as a Stewart platform has an easy and unique solution about the inverse kinematics. However, the forward kinematics is difficult to get a solution because of the lack of an efficient algorithm caused by its highly nonlinearity. This paper proposes the neural network scheme of an Newton-Raphson method alternatively. It is found that the neural network can be improved its accuracy by adjusting the offset of the obtained result.
Keywords
Neural network; Forward kinematics; Parallel manipulator; Stewart platform; Back-propagation; Calibration;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
연도 인용수 순위
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