Algebraic elimination-based real-time forward kinematics of the 6-6 Stewart platform with planar base and platform

T. Y. Lee, Jae Kyung Shim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Citations (Scopus)

Abstract

This paper presents the closed-form forward kinematics of the 6-6 Stewart platform with planar base and moving platform. Based on algebraic elimination method, it first derives a 20th-degree univariate equation from the determinant of the final Sylvester's matrix of which size is only 4×4. Then, it finds all solutions corresponding to the possible configurations of the platform for a given set of leg lengths. The proposed algorithm requires fairly less computation time enough to be used for real-time applications than the existing ones. Unlike numerical iterative schemes, this algorithm demands no initial estimate and is free from the problem that it fails to converge to the 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 the of the developed algorithm.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1301-1306
Number of pages6
Volume2
Publication statusPublished - 2001
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 2001 May 212001 May 26

Other

Other2001IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period01/5/2101/5/26

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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    Lee, T. Y., & Shim, J. K. (2001). Algebraic elimination-based real-time forward kinematics of the 6-6 Stewart platform with planar base and platform. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1301-1306)