Forward kinematics in polynomial form of the general Stewart platform
Forward kinematics in polynomial form of the general Stewart platform
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DOI：
10.1115/1.1348018
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发表时间：
2001-06-01
影响因子：
3.3
通讯作者：
Innocenti, C
中科院分区：
文献类型：
--
作者：
Innocenti, C
提出了一种求解一般几何6-6型全并联机器人正运动学多项式形式的新算法。通过确定40阶一元多项式方程的根，可以找到问题在复域中的40个解。与现有算法不同，该算法适合在标准浮点计算环境中实现。一个数值例子显示了新算法的应用案例研究。
The paper presents a new algorithm to solve, in polynomial form, the forward kinematics of the general-geometry 6-6 fully-parallel manipulator. The forty solutions that the problem at hand admits in the complex domain are found by determining the roots of a 40th-order univariate polynomial equation. Unlike the existing algorithm, the proposed one is suitable for implementation in a standard floating-point computation environment. A numerical example shows application of the new algorithm to a case study.