A Geometric Approach for Real-Time Forward Kinematics of the General Stewart Platform

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

6 Scopus Citations
Scopus Metrics
View graph of relations

Author(s)

  • Fangfang Yang
  • Xiaojun Tan
  • Zhe Wang
  • Zhenfeng Lu
  • Tao He

Detail(s)

Original languageEnglish
Article number4829
Journal / PublicationSensors
Volume22
Issue number13
Online published26 Jun 2022
Publication statusPublished - Jul 2022

Link(s)

DOI

DOI
Check@CityULib
Attachment(s)
Documents
Publisher's Copyright Statement
  • This full text is made available under CC-BY 4.0. https://creativecommons.org/licenses/by/4.0/
Link to Scopus https://www.scopus.com/record/display.uri?eid=2-s2.0-85132815551&origin=recordpage
Permanent Link https://scholars.cityu.edu.hk/en/publications/publication(756ca13d-d68c-47ee-8fec-569dd36ff818).html

Abstract

This paper presents a geometric approach for real-time forward kinematics of the general Stewart platform, which consists of two rigid bodies connected by six general serial manipulators. By describing the rigid-body motion as exponential of twist, and taking advantage of the product of exponentials formula, a step-by-step derivation of the proposed algorithm is presented. As the algorithm naturally solves all passive joint displacements, the correctness is then verified by comparing the forward-kinematic solutions from all chains. The convergence ability and robustness of the proposed algorithm are demonstrated with large amounts of numerical simulations. In all test cases, the proposed algorithm terminates within four iterations, converging with near-quadratic speed. Finally, the proposed algorithm is also implemented on a mainstream embedded motion controller. Compared with the incremental method, the proposed algorithm is more robust, with an average execution time of 0.48 ms, meeting the requirements of most applications, such as kinematic calibration, motion simulation, and real-time control.

Research Area(s)

  • forward kinematics, geometric approach, real-time, the Stewart platform

Fingerprint

Publication fingerprints text

100
Stewart Platform Keyphrases
100
Geometric Approach Keyphrases
100
Forward Kinematics Keyphrases
100
Algorithm Engineering
100
algorithms INIS
100
geometry INIS
100
Algorithms Computer Science
50
Numerical Simulatio... Keyphrases
50
Real-time Control Keyphrases
50
Rigid Body Keyphrases
Full Fingerprint ›

Citation Format(s)

[ RIS ] [ BibTeX ]
A Geometric Approach for Real-Time Forward Kinematics of the General Stewart Platform. / Yang, Fangfang; Tan, Xiaojun; Wang, Zhe et al.
In: Sensors, Vol. 22, No. 13, 4829, 07.2022.

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Download Statistics

No data available