StewardPlatformSolver
所属分类:matlab编程
开发工具:matlab
文件大小:16KB
下载次数:54
上传日期:2018-05-03 16:54:33
上 传 者:
小宇同学
说明: 本matlab程序仿真了6自由度Stewart平台,得到了正反解,并提供了可视化的GUI界面,可作为求解工作空间的参考,其中正解方法参考自以下论文:
Lee, Tae-Young, and Jae-Kyung Shim. "Forward kinematics of the general 6–6 Stewart platform using algebraic elimination." Mechanism and Machine Theory 36.9 (2001): 1073-1085.
(本程序转载自Github)
(The Matlab code for solving the forward and inverse position kinematics of 6 DoF Stewart platform, providing GUI.)
文件列表:
src (0, 2015-04-30)
src\coordtrans.m (2310, 2015-04-30)
src\formdata.txt (864, 2015-04-30)
src\stew.m (48047, 2015-04-30)
src\stew_forward.m (19734, 2015-04-30)
src\stew_inverse.m (5359, 2015-04-30)
# Background
In the summer of 2006 I accompanied Dr. Akihiko Kumagai (CSU Sacramento) to work at the Contact Dynamics Simulation Laboratory (CDSL) at NASA Marshall Space Flight Center (MSFC). While there we worked on a close-form solution to the forward kinematics of the CDSLs 6-DOF CDSL Stewart platform. Our project was a matlab implementation of the algebraic method of solving the forward kinematics described in the following paper:
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.
36th issue of Mechanism and Machine Theory magazine (2001, 1073-1085).
# Demo Video
https://www.youtube.com/watch?v=ABYmeZRDyYg
# Code
The matlab code is in the /src directory.
# Support
I wrote this code in the summer of 2006. It is provided here, for reference, but I offer no support or advice.
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