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Fast Numerical Solution to Forward Kinematics of General Stewart Mechanism Using Quaternion |
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| Authors: | Yang Xiaolong Wu Hongtao Chen Bai Zhu Liucun Xun Junxiang |
| Affiliation: | 1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing, 210016, P.R.China 2. Changzhou Vraic Automatic Equipment Technology Co., Ltd., Changzhou, 213104, P.R.China |
| Abstract: | The forward kinematics of the general Stewart mechanism is studied and a fast numerical method is presented.Quaternion is utilized to model the forward kinematics and the equations are merely a system of quadratic ones.The numerical method is a nice simplification of the Newton-Raphson method when applied to this system.A simulation of the movement control of the Stewart mechanism is accomplished,confirming the effectiveness of the proposed algorithm in real-time conditions. |
| Keywords: | forward kinematics Stewart mechanism quaternion |
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