Transactions on Control, Automation and Systems Engineering

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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New Formulation Method for Reducing the Direct Kinematic Complexity of the 3-6 Stewart-Gough Platform

  • Song, Se-Kyong (Intelligent Robotics R&B Group, Institute of Intelligent System, Mechatronics Center, Samsung Electronics Co. Ltd.,) ;
  • Kwon, Dong-Soo (Dept. of Mechanical Engineering, KAIST)
  • Published : 2002.06.01
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Abstract

This paper presents a new formulation to simplify the three resulting constraint equations of the direct kinematics of the 3-6 (Stewart-Gough) Platform. The conventional direct kinematics of the 3-6 Platform has been formulated through complicated steps with trigonometric functions in three angle variables and thus results in the computational burden. In order to reduce the formulation complexity, we replace an angle variable into a length one and express three connecting joints on the moving platform in the same frame. The proposed formulation yields considerable abbreviation of the number of the calculation terms involved in the direct kinematics. It is verified through a series of simulation results.

Keywords

References

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