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Real-Time Forward Kinematics of the 6-6 Stewart Platform with One Extra Linear Sensor

한 개의 선형 여유센서를 갖는 스튜어트 플랫폼의 실시간 순기구학

Sim, Jae-Gyeong;Lee, Tae-Yeong
심재경;이태영

  • Published : 2001.09.01

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

References

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