Dynamic Neural Networks for Kinematic Redundancy Resolution of Parallel Stewart Platforms
将Stewart平台的运动学控制问题转化为约束二次规划，设计动态神经网络进行求解，理论证明全局收敛，仿真验证了动态运动跟踪控制的有效性。
Redundancy resolution is a critical problem in the control of parallel Stewart platform. The redundancy endows us with extra design degree to improve system performance. In this paper, the kinematic control problem of Stewart platforms is formulated to a constrained quadratic programming. The Karush-Kuhn-Tucker conditions of the problem is obtained by considering the problem in its dual space, and then a dynamic neural network is designed to solve the optimization problem recurrently. Theoretical analysis reveals the global convergence of the employed dynamic neural network to the optimal solution in terms of the defined criteria. Simulation results verify the effectiveness in the tracking control of the Stewart platform for dynamic motions.