Research on Simulation of Motion Compensation for Omnidirectional Platform Based on Neural Network
YuNan Zhang, ShuangShuang Wang, Peng Tian, YuHui Zhao, Informatics in Control, Automation and Robotics, 2011, Volume 1, pp 275-281.
Abstract
In order to improve the accuracy of omnidirectional platform, this paper makes an analysis of kinematics and builds the dynamic virtual prototyping. The anisotropy of slippage and its influence on translation is simulated by virtual experiment. A method of neural network is proposed for nonlinear motion compensation. Simulation results show that motion error can be reduced and the performance is greatly improved, which indicates that the method is effective and feasible.
How Multibody Dynamics Simulation Technology is Used
RecurDyn is used to simulate an omnidirectional platform. The simulations show the effects of slippage. A nonlinear motion compensation based on neural network is then developed and tested with RecurDyn. RecurDyn was able to show that this method is successful in less time than would have been required with a physical prototype.
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