New Direct Kinematic Formulation of 6 D.O.F Stewart-Gough Platforms Using the Tetrahedron Approach

The paper presents a single constraint equ ation of the direct kinematic solution of 6-dof (Stewart-Gough) platforms. Many resear ch works have presented a single polynomial of the direct kinematics for several 6-dof platforms. However, the formulation of the polynomial has potential problems such as complicated formulation procedures and dis crimination of the actual solution from all roots. This results in heavy computatio nal burden and time-consuing task. Thus, to ove rcome these problems, we use a new formu-la tion approach, called the Tetrahedron Appr oach, to easily derive a single constraint equation, not a polynomial one, of the dir ect kinematics and use two well-known numer ical iterative methods to find the solution of the single constraint equation. Their pe rformance and characteristics are investiga ted through a series of simulation.
Publisher
Inst Control Robotics & Systems
Issue Date
2002-09
Language
KOR
Citation

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.4, no.3, pp.217 - 223

ISSN
1598-6446
URI
http://hdl.handle.net/10203/3069
Appears in Collection
ME-Journal Papers(저널논문)
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