Stewart Platform Position and Attitude Error Compensation Based on Improved Particle Swarm Optimization

The six-degree-of-freedom Stewart platform, as a high-precision parallel robot, is widely used in fields such as aerospace and precision manufacturing. However, its complex structure and diverse sources of error (such as manufacturing errors, assembly errors, rod deformation, etc.) make it difficult to effectively control position and attitude errors. This article proposes a Stewart platform position and attitude error compensation method, relying on the improved particle swarm optimization algorithm. By establishing a position and attitude error model for the platform and optimizing the driving joint error using the IPSO optimization, the position and attitude error of the platform have been significantly reduced, providing a new solution for error compensation of high-precision parallel robots.