Error Compensation Method of Parallel Robot Based on Ant Colony Algorithm
Yihao Du · Jisuanji gongcheng · 2011
The model of the pose error of Stewart parallel robot is established based on closed-loop vector method.The parallel robot pose error arises from the length error of six drive rods and the hinge error of connection with the upper and lower platform.In this paper,the continuous ant colony algorithm on the basis of mesh strategy for is proposed based on the model of the pose error;the pose error of Stewart parallel robot compensation is obtained by updating the pheromone and guiding the ants search repeatedly and optimizing the error of drive rods.The result of numerical simulation indicates that ant colony algorithm is able to realize the compensation of the pose error of Stewart parallel robot effectively.