Fast Numerical Solution to Forward Kinematics of General Stewart Mechanism Using Quaternion

• 作 者: 杨小龙 吴洪涛 陈柏 朱留存 荀俊祥
• 机 构: CollegeofMechanicalandElectricalEngineering,ChangzhouVraicAutomaticEquipmentTechnologyCo.
• 出 处: 南京航空航天大学学报：英文版
• 发表日期: 2014年4期
• 基金项目: Supported by the National Natural Science Foundation of China（51375230）, the Jiangsu Provincial Science and Technology Support Program（BE2012052）

The forward kinematics of the general Stewart mechanism is studied and a fast numerical method is presented.Quaternion is utilized to model the forward kinematics and the equations are merely a system of quadratic ones.The numerical method is a nice simpl