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RoManSy 9 pp 293–300Cite as

Real time kinematics for a 6 dof telerobotic joystick

  • Part 7 Synthesis And Design 2
  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 187))

Abstract

A real time solution to the forward kinematics of a Stewart Platform is described with guaranteed convergence properties. The solution uses special characteristics of an error function to reduce from 8 the number of possible solutions to 2 using appropriate choices for the platform configuration. The convergence properties are obtained by using a modified version of the Newton-Kantorovich theorem and real-time performance is achieved by the use of explicit expressions derived by algebraic manipulation using MACSYMA. A new pseudo platform is described with equivalent singularities to a Stewart Platform and is used to derive a method for singularity tracking. The performance of an experimental Stewart Platform joystick connected to an RM PC486 IBM compatible computer is reported.

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References

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Author information

Authors and Affiliations

  1. Oxford University Robotics Research Group, Oxford, England

    P. J. Fischer & R. W. Daniel

Authors
  1. P. J. Fischer
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  2. R. W. Daniel
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Editor information

A. Morecki G. Bianchi K. Jaworek

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© 1993 Springer-Verlag London Limited

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Fischer, P.J., Daniel, R.W. (1993). Real time kinematics for a 6 dof telerobotic joystick. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031456

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  • DOI: https://doi.org/10.1007/BFb0031456

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19834-5

  • Online ISBN: 978-3-540-39315-3

  • eBook Packages: Springer Book Archive

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