Abstract
This paper presents the forward kinematics of the general Stewart-Gough platform using dialytic elimination. The proposed algorithm, when implemented in a computer language, provides all the solutions in fairly less computation time compared to the existing ones, mainly due to the fact that it directly leads to a 40th-degree univariate equation from a constructed 15 × 15 Sylvester's matrix which is relatively small in size. In addition, the ways to avoid ill-conditioned linear systems in the solution procedure are dealt with for the purpose of enhancing the accuracy of the computed poses. Numerical examples are given to demonstrate the developed algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 563-577 |
| Number of pages | 15 |
| Journal | Mechanism and Machine Theory |
| Volume | 38 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2003 Jun |
ASJC Scopus subject areas
- Bioengineering
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications