Direct Kinematics Problem of Parallel Robot Based on LS-SVM

摘要

Although parallel robot is widely used on many fields now, it is still a fascinating problem of kinematics solution of Parallel robot. Using common methods involves the solving a series of simultaneous non-linear equations and, usually, non-unique, multiple sets of solutions are obtained from one set of data. Here a method based on LS-SVM is presented, the proposed method is applied to the parallel robot and satisfactory results are obtained. It proves that the method is feasible and effective. The results show that this approach can be used for the on-line control of parallel manipulators.