An algorithm for solving the direct kinematics of general Stewart-Gough platforms

被引：309

作者：

Husty, ML ^{[1
]}

机构：

[1] MONTAN UNIV,INST ANGEW GEOMETRIE,A-8700 LEOBEN,AUSTRIA

来源：

MECHANISM AND MACHINE THEORY | 1996年 / 31卷 / 04期

关键词：

DIRECT POSITION ANALYSIS; PARALLEL; CONFIGURATIONS; MANIPULATORS; MECHANISM;

D O I：

10.1016/0094-114X(95)00091-C

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper an algorithm for solving the direct kinematics of general Stewart-Gough platforms is introduced. A minimal set of constraint equations obtained by a kinematic mapping to produce ultimately the univariate polynomial of 40th degree is used. The algorithm is illustrated with an example for which the univariate polynomial is computed.

引用

页码：365 / 379

页数：15

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