Abstract
A real time solution to the forward kinematics of a Stewart Platform is described with guaranteed convergence properties. The solution uses special characteristics of an error function to reduce from 8 the number of possible solutions to 2 using appropriate choices for the platform configuration. The convergence properties are obtained by using a modified version of the Newton-Kantorovich theorem and real-time performance is achieved by the use of explicit expressions derived by algebraic manipulation using MACSYMA. A new pseudo platform is described with equivalent singularities to a Stewart Platform and is used to derive a method for singularity tracking. The performance of an experimental Stewart Platform joystick connected to an RM PC486 IBM compatible computer is reported.
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© 1993 Springer-Verlag London Limited
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Fischer, P.J., Daniel, R.W. (1993). Real time kinematics for a 6 dof telerobotic joystick. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031456
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DOI: https://doi.org/10.1007/BFb0031456
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