A direct numerical solution to forward kinematics of general Stewart–Gough platforms

Authors:
Yunfeng Wang
Affiliations:
Department of Mechanical Engineering, The College of New Jersey, Ewing, NJ 08628, USA. E-mail: jwang@tcnj.edu.
Venue:
Robotica
Year:
2007

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Abstract

This paper presents a simple numerical method for forward kinematics of general Stewart–Gough platforms, which can generate a unique solution directly. This method utilizes the trivial nature of the inverse kinematics of parallel manipulators, and derives a straightforward linear relationship between the small change in joint variables (leg lengths) and the resulting small motion of the platform. The solution to the forward kinematics is then achieved through a series of small changes in joint variables. Numerical examples validate and confirm the efficiency of the method.