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Title: A closed-form forward kinematics solution for the 6-6P Stewart platform
Authors: Ji, P 
Wu, H
Keywords: Closed form solution
Forward kinematics
Stewart platform
Issue Date: 2001
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on robotics and automation, 2001, v. 17, no. 4, p. 522-526 How to cite?
Journal: IEEE transactions on robotics and automation 
Abstract: This paper studies the forward kinematics of a special 6-6 Stewart platform, in which both the base and the mobile platforms are similar hexagons. A concise closed-form solution to the forward kinematics of the Stewart platform is obtained by introducing a quaternion to represent the transformation matrix. It is very interesting to find that the eight possible solutions have a very simple inner symmetry relationship. So, the solutions obtained from the approach presented in this paper are concise, represented as the squares of the four quaternion components. Besides, unnecessary complex roots are avoided automatically. Finally, only univariate quadratic equations are required to solve in this approach.
ISSN: 1042-296X
DOI: 10.1109/70.954766
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