An Efficient Algebraic Method for Direct Kinematics of the 5-6 Stewart Platform

摘要

An algorithm for direct kinematics of the 5-6 Stewart platform is presented. We construct a set of fifteen 4th degree equations in three unknowns and obtain the univariate polynomial of 20th degree. Due to dual solutions of other unknowns, this indicates a maximum of 40 possible solutions. A numerical example is given to verify the effectiveness and the accuracy of the proposed algorithm.