Forward Kinematics of the General Stewart-Gough Platform Using Grobner Basis

被引：0

作者：

Huang, Xiguang ^{[1
]}

He, Guangpin ^{[1
]}

机构：

[1] N China Univ Technol, Sch Mech & Elect Engn, Beijing, Peoples R China

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年

关键词：

Stewart-Gough platform; Forward kinematics; Closed-form solution;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper studies the forward kinematics of the general Stewart-Gough platform, which consists of a base platform, a mobile platform and six limbs connected at six distinct points on the base platform and the mobile platform respectively. A new concise closed-form solution to the forward kinematics of the general Stewart-Gough platform is obtained by using Grobner basis theory. The forward kinematics problem of the general Stewart-Gough platform is reduced to a 40th degree polynomial in a single unknown from a constructed 18x18 Sylvester's matrix which is relatively small in size. A complete set of 40 solutions to the most general Stewart-Gough platform are also obtained. The proposed method is exemplified by a way of one particular example of a Stewart-Gough platform for which we obtain 40 postures.

引用

页码：3557 / 3561

页数：5

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