The paper presents a new algorithm to solve, in polynomial form, the forward kinematics of the generalgeometry 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.
Forward kinematics in polynomial form of the general stewart platform / Innocenti, C.. - 1:(1998). (Intervento presentato al convegno ASME 1998 Design Engineering Technical Conferences, DETC 1998 tenutosi a usa nel 1998) [10.1115/DETC98/MECH-5894].
Forward kinematics in polynomial form of the general stewart platform
Innocenti C.
1998
Abstract
The paper presents a new algorithm to solve, in polynomial form, the forward kinematics of the generalgeometry 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.
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