Stewart平台六自由度位姿方程的改进数值解法研究

摘要

When numerical method is used to solve position and attitude equation of Stewart platform,calculated speed is low and improper initial value will lead to incorrect result. To solve the problem,Levenberg-Marquardt (L-M)optimization algorithm was used for solving the nonlinear equations and warm start strategy for selecting the initial value. The experimental result shows that this method is fast and effective.%针对数值法求解Stewart平台位姿方程，计算速度较慢，迭代初始值选取不当可能得不到位姿正解的问题，采用L-M优化算法解算非线性方程以及暖启动策略代入初值方法解决上述问题，实验结果表明该方法快速有效。