Pii: S0094-114x(99)00009-9
نویسندگان
چکیده
This paper presents a new method for solving the direct kinematics problem of a general Stewart Platform by using three linear extra sensors. The sensors are disposed at a most general way, connecting the non-planar base and the planar mobile platform at distinct points. The extra sensory data enables to reduce the problem to the solution of an overdetermined system of 6 quadratic equations in 3 unknowns. Random numerical examples have demonstrated the existence of a unique solution to this system. # 1999 Elsevier Science Ltd. All rights reserved.
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تاریخ انتشار 1999