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What is Forward Kinematics of 6-6 Stewart Platform about?

This paper introduces a new algorithm for solving the forward kinematics of the 6-6 Stewart platform with a planar base and moving platform using algebraic elimination. The method derives a 20th degree univariate polynomial from a Sylvester matrix, offering a more efficient solution suitable for real-time applications compared to previous methods. The results are verified through numerical examples, demonstrating the algorithm

Author

陳汝城

Language

EN