A Constructive Predictor-Corrector Algorithm for the Direct
Position Kinematics Problem for a General 6-6 Stewart Platform
by Bhaskar Dasgupta and T. S. Mruthyunjaya
Abstract:
This paper deals with the direct position kinematics of a
general 6-6 Stewart platform and presents a new and efficient algorithm
to solve the problem. Unlike the convention of developing a
set of kinematic equations and then solving them, an alternative
approach is proposed which involves just a search and verification
purely from geometric considerations. An attempt at conceptual
construction of the mechanism under given constraints results in the
prediction of tentative solutions, which are subsequently corrected.
The algorithm is implemented and two case studies are reported.
The proposed algorithm is simple to implement, finds all the real
closures and is applicable to the most general case of the Stewart
platform.