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Real-Time Forward Kinematics of the 6-6 Stewart Platform with One Extra Linear Sensor
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 Title & Authors
Real-Time Forward Kinematics of the 6-6 Stewart Platform with One Extra Linear Sensor
Sim, Jae-Gyeong; Lee, Tae-Yeong;
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 Abstract
This paper deals with the forward kinematics of the 6-6 Stewart platform of planar base and moving platform using one extra linear sensor. Based on algebraic elimination method, it first derives an 8th-degree univariate equation and then finds tentative solution sets out of which the actual solution is to be selected. In order to provide more exact solution despite the error between measured sensor value and the theoretic alone, a correction method is also used in this paper. The overall procedure requires so little computation time that it can be efficiently used for real-time applications. In addition, unlike the iterative scheme e.g. Newton-Raphson, the algorithm does not require initial estimates of solution and is free of the problems that it does not converge to actual solution within limited time. The presented method has been implemented in C language and a numerical example is given to confirm the effectiveness and accuracy of the developed algorithm.
 Keywords
Stewart Platform;Forward Kinematics;Extra Sensor;Algebraic Elimination;Determinant;
 Language
Korean
 Cited by
1.
케이싱 오실레이터의 순기구학 해석,남윤주;박명관;

대한기계학회논문집A, 2004. vol.28. 12, pp.1845-1855 crossref(new window)
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