REAL-TIME FORWARD KINEMATICS OF THE GENERAL 6-6 STEWART PLATFORM USING ONE EXTRA SENSOR

Tae Young Lee, Jae Kyung Shim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The forward kinematics of the Stewart platform is to find the postures of the moving platform for a given set of leg lengths. In case of the general Stewart platform, the number of solutions of the problem is up to forty in the complex domain. Theoretically, it is not possible to uniquely determine the actual configuration with six leg length measurements only. An approach to get a single actual configuration is to make over constrained system by adding extra sensors. This paper presents an algebraic elimination-based method for the real-time forward kinematics of the general Stewart platform with one extra sensor. The proposed algorithm does not require initial estimates of solutions unlike the numerical iterative methods, and can be implemented in C language using conventional double precision data with 15 significant digits. A numerical example is given to confirm the effectiveness and correctness of the developed algorithm for real-time computation.

Original languageEnglish
Title of host publication26th Biennial Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages427-434
Number of pages8
ISBN (Electronic)9780791835173
DOIs
Publication statusPublished - 2000
EventASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000 - Baltimore, United States
Duration: 2000 Sept 102000 Sept 13

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume7A

Conference

ConferenceASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2000
Country/TerritoryUnited States
CityBaltimore
Period00/9/1000/9/13

Bibliographical note

Publisher Copyright:
Copyright ©2000 by ASME.

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

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