By Topic

A closed-form forward kinematics solution for the 6-6p Stewart platform

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Ping Ji ; Dept. of Manuf. Eng., Hong Kong Polytech., Kowloon ; Hongtao Wu

Studies the forward kinematics of a special 6-6 Stewart platform, in which both the base and the mobile platforms are similar hexagons. A concise closed-form solution to the forward kinematics of the Stewart platform is obtained by introducing a quaternion to represent the transformation matrix. It is very interesting to find that the eight possible solutions have a very simple inner symmetry relationship. So, the solutions obtained from the approach presented in the paper are concise, represented as the squares of the four quaternion components. Besides, unnecessary complex roots are avoided automatically. Finally, only univariate quadratic equations are required to solve in this approach

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 4 )