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.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=2246152
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