@inproceedings{cbdcf48918f140079a182edf4656f32b,
title = "A new numerical method for Stewart platform forward kinematics",
abstract = "This article proposes a numerical method based on equivalent model (NEM) for 6-3 Stewart platform forward kinematics problem (FKP). The NEM translates the forward kinematics problem into a ternary nonlinear equations system. Newton method was then used to solve the equations system. Simulations were conducted with different trajectories and allowable errors to compare the performance of NEM with traditional Newton-Raphson method (TNR). It turns out that NEM saves 50\% iteration times, and 85\% operation time of TNR, making the computing frequency as high as 54KHz, which is significant in real time control process. A practical structure of 6-3 Stewart platform without partial freedom was also designed.",
keywords = "Stewart platform, equivalent model, forward kinematics, practical structure",
author = "Zhiyong Tang and Hu Ma and Zhongcai Pei and Lanbo Liu and Jinhui Zhang",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7554348",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6311--6316",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}