Transactions of Nanjing University of Aeronautics & Astronautics
Fast Numerical Solution to Forward Kinematics of General Stewart Mechanism Using Quaternion
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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
Project Supported:
Supported by the National Natural Science Foundation of China (51375230); the Jiangsu Provincial Science and Technology Support Program (BE2012052).
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