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Lapikov

Solution of Direct Kinematic Problem for Stewart-Gough Platform with the Use of Analytical Equation of Plane
Engineering Education # 04, April 2014
DOI: 10.7463/0414.0706936
The article examines existing approaches to solution of direct kinematic problem for the Stewart-Gough platform. It suggests the method to solve this problem for the one type of simplified model of Stewart-Gough platform (type 6-3), which is based on determination of analytical equation of moving platform plane. The task is formalized as a system of nonlinear algebraic equations a characteristic property of which is equations of the same structure, with the same type of nonlinearity. The solution of the direct kinematic problem (pose of the moving platform) is given as homogenous transformation matrix.
 
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