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

2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering

材料科学;无线电电子学;电工学

Liu, Yumei^1 ; Zhuang, Jiaojiao^1 ; Qiao, Ningguo^1 ; Liu, Pengcheng^1

College of Transportation, Jilin University, Changchun, China^1

关键词: Calculated values;    Forward kinematics;    Forward kinematics solutions;    Homogeneous transformation matrix;    Kinematics simulation;    Matlab simulations;    Objective functions;    Six-degree-of-freedom (6-DoF);   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/452/4/042055/pdf
DOI  :  10.1088/1757-899X/452/4/042055

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

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.