Name
Abstract | ||
|---|---|---|
The direct and inverse kinematics of the 6/6-Stewart-platform architecture drawn opposite is considered. A fast and self-contained numerical algorithm is designed to compute the kinematic transformations. The design exploits the geometric symmetry of the construction by reducing the involved polynomial equations in a systematic fashion. The two special cases of constant orientation and of constant position are solved in closed form. |
Year | DOI | Venue |
|---|---|---|
1996 | 10.1007/s002000050046 | Appl. Algebra Eng. Commun. Comput. |
Keywords | Field | DocType |
Stewart-platform,Robot kinematics,Closed-loop architectures,Parallel-manipulators,Polynomial equations with symmetry,Newton's method,Fast evaluation of polynomials,Quaternions | Discrete mathematics,Kinematics,Kinematics equations,Polynomial,Inverse kinematics,Mathematical analysis,321 kinematic structure,Quaternion,Robot kinematics,Stewart platform,Geometry,Mathematics | Journal |
Volume | Issue | ISSN |
7 | 6 | 0938-1279 |
Citations | PageRank | References |
2 | 0.51 | 5 |
Authors | ||
1 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sebastian Egner | 1 | 158 | 132.06 |