ISSN:
1432-0622
Keywords:
Stewart-platform
;
Robot kinematics
;
Closed-loop architectures
;
Parallel-manipulators
;
Polynomial equations with symmetry
;
Newton's method, Fast evaluation of polynomials
;
Quaternions
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mathematics
,
Technology
Notes:
Abstract The direct and inverse kinematics of the 6/6-Stewart-platform architecture drawn opposite is considered. A fast and self-contained numerical algorithm is designed to compute the kinematic transformations. The design exploits the geometric symmetry of the construction by reducing the involved polynomial equations in a systematic fashion. The two special cases of constant orientation and of constant position are solved in closed form.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01293263
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