Low-speed motion control of a mechanical system
Dynamics and Control
Selection of Meta-parameters for Support Vector Regression
ICANN '02 Proceedings of the International Conference on Artificial Neural Networks
SVMTorch: support vector machines for large-scale regression problems
The Journal of Machine Learning Research
Predicting defect-prone software modules using support vector machines
Journal of Systems and Software
Robotics and Computer-Integrated Manufacturing
A 6-DOF adaptive parallel manipulator with large tilting capacity
Robotics and Computer-Integrated Manufacturing
Information Sciences: an International Journal
Journal of Intelligent and Robotic Systems
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Kinematic analysis is one of the key issues in the research domain of parallel kinematic manipulators. It includes inverse kinematics and forward kinematics. Contrary to a serial manipulator, the inverse kinematics of a parallel manipulator is usually simple and straightforward. However, forward kinematic mapping of a parallel manipulator involves highly coupled nonlinear equations. Therefore, it is more difficult to solve the forward kinematics problem of parallel robots. In this paper, a novel three degrees-of-freedom (DOFs) actuation redundant parallel manipulator is introduced. Different intelligent approaches, which include the Multilayer Perceptron (MLP) neural network, Radial Basis Functions (RBF) neural network, and Support Vector Machine (SVM), are applied to investigate the forward kinematic problem of the robot. Simulation is conducted and the accuracy of the models set up by the different methods is compared in detail. The advantages and the disadvantages of each method are analyzed. It is concluded that @n-SVM with a linear kernel function has the best performance to estimate the forward kinematic mapping of a parallel manipulator.