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.
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