A Novel Direct Kinematic Method Based on Extended Kalman Filter for Stewart Platform
نویسندگان
چکیده
In this paper, the extended kalman filter based direct kinematic method was proposed to calculate the real-time end-effector position in a Stewart platform. A noise analysis based on the data transmission is proposed firstly, in which the size order of time domain noises is concerned. Then non-linear kinematic model and numerical method for Stewart platform are presented respectively. Later, an extended kalman filter based direct kinematic method is proposed, where transmission delays and synchronous errors are considered as a drift in the platform trajectory. Finally, various simulation results demonstrated the validity of the algorithm proposed in this article.
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تاریخ انتشار 2015