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Towards a Robust Solution of the Non-linear Kinematics for the General Stewart Platform with Estimation of Distribution Algorithms : Verso una soluzione robusta della cinematica non lineare per la piattaforma di Stewart generale con algoritmi di stima della distribuzione, in: International Journal of Advanced Robotic Systems |
Documenti accessibili
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Informazioni generali |
| Autore |
Martinez, Eusebio Eduardo Hernández; Peña, Sergio Ivvan Valdez; Soto, Eduardo Sánchez |
| Pubblicato |
InTech Open Access Publisher, 2013
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| Abstract |
In robotics, solving the direct kinematics
problem (DKP) for parallel robots is very often more
difficult and time consuming than for their serial
counterparts. The problem is stated as follows: given the
joint variables, the Cartesian variables should be
computed, namely the pose of the mobile platform. Most
of the time, the DKP requires solving a non‐linear system
of equations. In addition, given that the system could be
non‐convex, Newton or Quasi‐Newton (Dogleg) based
solvers get trapped on local minima. The capacity of such
kinds of solvers to find an adequate solution strongly
depends on the starting point. A well‐known problem is
the selection of such a starting point, which requires a
priori information about the neighbouring region of the
solution. In order to circumvent this issue, this article
proposes an efficient method to select and to generate the
starting point based on probabilistic learning.
Experiments and discussion are presented to show the
method performance. The method successfully avoids
getting trapped on local minima without the need for
human intervention, which increases its robustness when
compared with a single Dogleg approach. This proposal
can be extended to other structures, to any non‐linear
system of equations, and of course, to non‐linear
optimization problems. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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