대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제25권3호
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  • Pages.339-352
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  • 2001
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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스튜어트 플랫폼의 빠른 순기구학 해석

A Fast Forward Kinematic Analysis of Stewart Platform

  • 발행 : 2001.03.01
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⟨ 이전 논문 다음 논문 ⟩

초록

The inverse kinematics problem of Stewart platform is straightforward, but no closed form solution of the forward kinematic problem has been presented. Since we need the real-time forward kinematic solution in MIMO control and the motion monitoring of the platform, it is important to acquire the 6 DOF displacements of the platform from measured lengths of six cylinders in small sampling period. Newton-Raphson method a simple algorithm and good convergence, but it takes too long calculation time. So we reduce 6 nonlinear kinematic equations to 3 polynomials using Nairs method and 3 polynomials to 2 polynomials. Then Newton-Raphson method is used to solve 3 polynomials and 2 polynomials respectively. We investigate operation counts and performance of three methods which come from the equation reduction and Newton-Raphson method, and choose the best method.

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참고문헌

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