Forward Kinematics in Polynomial Form of the General Stewart Platform1Source: Journal of Mechanical Design:;2001:;volume( 123 ):;issue: 002::page 254Author:Carlo Innocenti
DOI: 10.1115/1.1348018Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper presents a new algorithm to solve, in polynomial form, the forward kinematics of the general-geometry 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.
keyword(s): Kinematics , Equations , Polynomials AND Algorithms ,
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| contributor author | Carlo Innocenti | |
| date accessioned | 2017-05-09T00:05:33Z | |
| date available | 2017-05-09T00:05:33Z | |
| date copyright | June, 2001 | |
| date issued | 2001 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27694#254_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/125637 | |
| description abstract | The paper presents a new algorithm to solve, in polynomial form, the forward kinematics of the general-geometry 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Forward Kinematics in Polynomial Form of the General Stewart Platform1 | |
| type | Journal Paper | |
| journal volume | 123 | |
| journal issue | 2 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.1348018 | |
| journal fristpage | 254 | |
| journal lastpage | 260 | |
| identifier eissn | 1528-9001 | |
| keywords | Kinematics | |
| keywords | Equations | |
| keywords | Polynomials AND Algorithms | |
| tree | Journal of Mechanical Design:;2001:;volume( 123 ):;issue: 002 | |
| contenttype | Fulltext |