Forward Kinematics Solution of the Bogie Test Bench Based on the IPSO

In order to control the motion pose of the bogie test-bench more accurately, an improved particle swarm optimization (IPSO) is proposed to solve the forward kinematics of the six degree of freedom (6-DOF) motion platform of the bogie test bench. According to the geometry and parameters of the parall...

Full description

Saved in:
Bibliographic Details
Published in:IOP conference series. Materials Science and Engineering 2018-12, Vol.452 (4), p.42055
Main Authors: Liu, Yumei, Zhuang, Jiaojiao, Qiao, Ningguo, Liu, Pengcheng
Format: Article
Language:English
Subjects:
Inverse kinematics
Kinematics
Mathematical models
Matlab
Parallel degrees of freedom
Parameters
Particle swarm optimization
Undercarriages
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In order to control the motion pose of the bogie test-bench more accurately, an improved particle swarm optimization (IPSO) is proposed to solve the forward kinematics of the six degree of freedom (6-DOF) motion platform of the bogie test bench. According to the geometry and parameters of the parallel 6-DOF motion platforms, the mathematical model for the forward kinematics of the platform is established by the homogeneous transformation matrix. Then, the built objective function is optimized based on the IPSO and the pose parameters of the 6-DOF platform are obtained by MATLAB simulation. Finally, in order to verify the correctness and feasibility of this method, the inverse kinematics simulation model of the 6-DOF platform is established by MATLAB/Simulink, comparing the actual measured value and the calculated value of the rod length, the error is within the allowable range, which meet the requirements of precision control.
ISSN:1757-8981
1757-899X
1757-899X
DOI:10.1088/1757-899X/452/4/042055