• DocumentCode
    2246152
  • Title

    An efficient algebraic method for direct kinematics of the 5–6 Stewart platform

  • Author

    Huang, Xiguang ; Hang, Zuquan ; He, Guangpin ; Tan, Xiaolan

  • Author_Institution
    Sch. of Mech. & Electr. Eng., North China Univ. of Technol., Beijing, China
  • Volume
    2
  • fYear
    2010
  • fDate
    6-7 March 2010
  • Firstpage
    63
  • Lastpage
    66
  • Abstract
    An algorithm for direct kinematics of the 5-6 Stewart platform is presented. We construct a set of fifteen 4th degree equations in three unknowns and obtain the univariate polynomial of 20th degree. Due to dual solutions of other unknowns, this indicates a maximum of 40 possible solutions. A numerical example is given to verify the effectiveness and the accuracy of the proposed algorithm.
  • Keywords
    algebra; kinematics; mobility management (mobile radio); polynomials; Stewart platform; algebraic method; direct kinematics; mobile platform; Asia; Automatic control; Closed-form solution; Informatics; Kinematics; Leg; Nonlinear equations; Polynomials; Robot control; Robotics and automation; Closed-form solutions; Forward kinematics; Parallel mechanism;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
  • Conference_Location
    Wuhan
  • ISSN
    1948-3414
  • Print_ISBN
    978-1-4244-5192-0
  • Electronic_ISBN
    1948-3414
  • Type

    conf

  • DOI
    10.1109/CAR.2010.5456621
  • Filename
    5456621
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2246152