Kinematics Model Optimization Algorithm for Six Degrees of Freedom Parallel Platform

The attitude closed-loop control of the parallel platform in working space needs to determine relationship between pose top moving and length each mechanical arm, that is, kinematics problem platform. In this study, model six-degree-of-freedom was established. forward solution algorithm based on Newton–Raphson iteration studied. method usually adopts a numerical solution, which often multiple iterations, has poor real-time performance. order improve performance system, multivariate polynomial regression is proposed paper. Moreover, by combining with Newton iterative method, we obtained an efficient controllable accuracy. effectiveness verified simulation tests physical tests.