Stewart Platform Forward Kinematics solver demo

In the summer of 2006 I had an internship at NASA Marshall Space Flight Center. While there, I worked on a solution for the forward kinematics for a 6dof stewart platform. At the end of the summer, I made this demo to give to our managing NASA engineer to demonstrate our code.

I have had many requests to release this source code, but due to uncertain licensing issues, I cannot. If you are interested in this solution I urge you to read the paper titled:

Forward kinematics of the general 6-6 Stewart platform using algebraic elimination.

Authors: Tae-Young Lee, Jae-Kyung Shim

Department of Mechanical Engineering, Korea University, 5-Ka Anam-Dong Sungbuk-Ku, Seoul, 136-701, South Korea.

This paper was published in the 36th issue of Mechanism and Machine Theory magazine (2001, 1073-1085).

Again, I cannot release the source code for this project.

Category:

Science & Technology

Tags:

• NASA
• MSFC
• forward
• kinematics
• stewart
• platform
• dof

[baiquni]

did you have source code for IK 6-6 Stewart Platform solutions?

[smandyscom]

Great! what i only done was solving the FKT by iteration method. It was necessary to give a initial value of relative position for starting the continuous FKT process.

Your work shows that u got the analytical solution for FKT...awesome

[lochan94]

Great Work !!!

[planmix]

Bravo!