A procedure for the determination of the actual configuration of the 6-3 type Stewart Platform is presented. The procedure makes use of one extra sensor in addition to the six that provide the mechanism leg lengths. The use of one extra sensor suitably located on the mechanism allows the direct position analysis to be solved in closed form and makes it possible to obtain a one-to-one correspondence between the sensor measurements and the configuration of the mechanism in almost the entire workspace. Particular configurations where the correspondence is not one-to-one are outlined and criteria to identify them given. Sensitivity to sensor measurement errors is investigated. © 1996 Kluwer Academic Publishers.
Closed-form solution of the direct kinematics of the 6-3 type Stewart platform using one extra sensor
DI GREGORIO, Raffaele
1996
Abstract
A procedure for the determination of the actual configuration of the 6-3 type Stewart Platform is presented. The procedure makes use of one extra sensor in addition to the six that provide the mechanism leg lengths. The use of one extra sensor suitably located on the mechanism allows the direct position analysis to be solved in closed form and makes it possible to obtain a one-to-one correspondence between the sensor measurements and the configuration of the mechanism in almost the entire workspace. Particular configurations where the correspondence is not one-to-one are outlined and criteria to identify them given. Sensitivity to sensor measurement errors is investigated. © 1996 Kluwer Academic Publishers.I documenti in SFERA sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
