A new method for solving the direct kinematics of general 6-6 Stewart Platforms using three linear extra sensors
A new method for solving the direct kinematics of general 6-6 Stewart Platforms using three linear extra sensors
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DOI：
10.1016/s0094-114x(99)00009-9
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发表时间：
2000-03-01
影响因子：
5.2
通讯作者：
Ryu, J
中科院分区：
文献类型：
--
作者：
Bonev, IA;Ryu, J
本文提出了一种利用三个线性附加传感器求解一般Stewart平台正运动学问题的新方法。传感器以最一般的方式设置，在不同的点处连接非平面基座和平面移动的平台。额外的传感器数据能够将问题简化为3个未知数的6个二次方程的超定系统的解。随机数值算例证明了该系统存在唯一解。(C)1999 Elsevier Science Ltd.保留所有权利。
This paper presents a new method for solving the direct kinematics problem of a general Stewart Platform by using three linear extra sensors. The sensors are disposed at a most general way, connecting the non-planar base and the planar mobile platform at distinct points. The extra sensory data enables to reduce the problem to the solution of an overdetermined system of 6 quadratic equations in 3 unknowns. Random numerical examples have demonstrated the existence of a unique solution to this system. (C) 1999 Elsevier Science Ltd. All rights reserved.