New and Efficient Method for the Direct Kinematic Solution of the General Planar Stewart Platform
作者：
Huang, Xiguang*;He, Guangpin
通讯作者：
Huang, Xiguang
作者机构：
N China Univ Technol, Sch Mech & Elect Engn, Beijing, Peoples R China.
通讯机构：
N China Univ Technol, Sch Mech & Elect Engn, Beijing, Peoples R China.
语种：
英文
关键词：
Direct kinematics,Parallel mechanism,Closed-form solutions
期刊：
2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3
年：
2009
页码：
1978-1982
摘要：
In this paper a new and efficient algorithm to solve a closed-form direct kinematics solution of the general 6-6 planar Stewart platform is presented. The main idea is to compute the reduced Groebner basis under degree lexicographic ordering for the closed-form equations by using computer algebra firstly. Secondly, select 10 Groebner bases from the obtained 41 ones and construct a 10x10 Sylvester's matrix, which is relatively small in size. A 20th degree univariate equation is obtained from the determinate of the matrix and all 40 sets closed-form direct kinematics solutions are obtained. The proposed algorithm is simple and reduces greatly the computation burden than the...
