The present invention discloses a forward solution
algorithm for a parallel mechanical platform based on
polynomial regression, comprising the following steps: Step 1: constructing a six-variable cubic polynomial as follows: #imgabs0# wherein: is the parameter to be solved, A is the cubic
coupling term parameter of 1, B is the quadratic
coupling term parameter of 1, C is the
linear term parameter of 1, and D is a constant parameter; Step 2: kinematically inversely solving the known posture parameters to obtain the corresponding
robotic arm length, and then eliminating the remaining unknowns except for the parameters A, B, C, and D in the above formula; Step 3: establishing a set of 259 linear equations for solving A, B, C, and D, solving the linear equations, and obtaining the values of A, B, C, and D. The present invention solves the problems of non-globality and poor real-time performance of Newton iteration in kinematic forward solution problems, and can be used in a multivariate
polynomial regression forward solution
algorithm for a parallel mechanical platform. The
polynomial regression method can converge globally and has stronger real-time performance.