一种并行结构机器人位置正解问题的加权迭代解法

针对并行结构机器人的位置正解问题，提出了一种基于反解的加权迭代法。方法的核心是利用拟自适应因子方法构造权因子，应用指数衰减函数作为构造权因子的基本函数，能够明显地提高迭代效率。分析了权因子和迭代次数之间的关系，确定了权因子的取值原则。仿真结果表明，该方法可以有效地满足并行结构机器人位姿控制的实时性。

Weight Iteration of Displacement Forward of a Kind of Parallel Manipulators

A method is presented for the displacement forward problems of parallel manipulaors. It uses weight iteration based on the displacement backward simulated self adaptive method. The exponentially decayed function is applied as the elementary function to construct weights. The method results in a dramatic improvement of iteration efficiency. The relationship between weights and iteration times is also analyzed and the method of choosing values of weights is defined. The results of simulation show that the method can effectively satisfy the real time need of displacement control of parallel manipulators.