%0 Journal Article %1 889.70004 %A McAree, P.R. %A Daniel, R.W. %D 1996 %J J. Rob. Syst. %K Newton-Raphson assembly configurations; constraint equations; modes scheme; singular %N 7 %P 407-427 %T A fast, robust solution to the Stewart platform forward kinematics. %V 13 %X We describe an approach for computing the forward kinematics of the Stewart platform which is based on the simultaneous solution of three constraint equations using a Newton-Raphson scheme. A well-known property of Newton-Raphson is its tendency to fail when the constraint equations become poorly conditioned, and the main contribution of this article is the development of two algorithms for overcoming this limitation and hence for providing robustness. Certain other matters, such as the singular configurations of the Stewart platform and its assembly modes, are touched upon.

@article{889.70004, abstract = {We describe an approach for computing the forward kinematics of the Stewart platform which is based on the simultaneous solution of three constraint equations using a Newton-Raphson scheme. A well-known property of Newton-Raphson is its tendency to fail when the constraint equations become poorly conditioned, and the main contribution of this article is the development of two algorithms for overcoming this limitation and hence for providing robustness. Certain other matters, such as the singular configurations of the Stewart platform and its assembly modes, are touched upon. }, added-at = {2008-03-02T02:12:02.000+0100}, author = {McAree, P.R. and Daniel, R.W.}, biburl = {https://www.bibsonomy.org/bibtex/281912f03c0abcc2beff91eac8b9885c5/dmartins}, classmath = {*70B15 Mechanisms 70-08 Computational methods (mechanics of particles and systems)}, description = {robotica-bib}, interhash = {5ca23c01bf9278821f82a24448f74586}, intrahash = {81912f03c0abcc2beff91eac8b9885c5}, journal = {J. Rob. Syst.}, keywords = {Newton-Raphson assembly configurations; constraint equations; modes scheme; singular}, language = {English}, number = 7, pages = {407-427}, timestamp = {2008-03-02T02:13:43.000+0100}, title = {A fast, robust solution to the {Stewart} platform forward kinematics.}, volume = 13, year = 1996 }