A new approach for the forward kinematics of nearly general Stewart platform with an extra sensor

摘要

In this paper, a new approach for the forward kinematics of nearly general Stewart platform (i.e., both the fixed base and moving platform are restricted to planar platforms) with an extra sensor is presented. Fifteen compatible algebra equations which express the coupling relationships between the position and orientation variables of the moving platform are obtained. Because the magnitude of the position vector is measured by the extra sensor, the fifteen compatible algebra equations can be transformed into a set of linear algebraic equations with two unknown variables with the help of elimination by substitution, from which a unique solution can be obtained. In the end, a numerical example is presented to verify the correctness of the proposed approach. The proposed approach is simple and does not need any iteration, is expected to be used in real time applications.