@article{863.70003,
	title = {Semi-numerical solution to 6/6-Stewart-platform kinematics based
	on symmetry. },
	author = {S. Egner},
	journal = {Appl. Algebra Eng. Commun. Comput.},
	number = {6},
	pages = {449-468},
	volume = {7},
	year = {1996},
	biburl = {http://www.bibsonomy.org/bibtex/215260d9a3b4fdcf68375897c0486c9c8/dmartins},
	description = {robotica-bib},
	abstract = {The direct and inverse kinematics of the 6/6-Stewart-platform architecture
	drawn opposite are 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. Two special
	cases of constant orientation and of constant position are solved
	in closed form. },
	language = {English}, classmath = {*70B15 Mechanisms 70-08 Computational methods (mechanics of particles
	and systems)},
	keywords = {Newton's and architectures; closed-loop constant direct equations; inverse kinematic kinematics; manipulators; method; orientation; parallel polynomial position quaternions; symmetry; transformations; }
}