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.
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Egner, S. Semi-numerical solution to 6/6-Stewart-platform kinematics based on symmetry. AAECC 7, 449–468 (1996). https://doi.org/10.1007/BF01293263
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DOI: https://doi.org/10.1007/BF01293263