Abstract
The orientation-singularity expression of the Stewart platform is deduced by using unit quaternion which can avoid singularity when using Euler angles to represent the orientation of rigid body. The concept and algorithm for nonsingular orientation-workspace at a certain position is proposed. The practical orientation-workspace that is the minimum inscribed sphere of the nonsingular orientation-workspace’s boundary surface is put forward. The radius of the sphere namely practical orientation-capability is used to evaluate the practical orientation-workspace. Examples of a Stewart platform are given to illustrate the results including the graphical nonsingular orientation- workspace at a certain position and the practical orientation-capability versus positions within position-workspace of “initial orientation”. The research results can be some useful to the manipulator’s application.
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Li, B., Cao, Y., Huang, Z., Zhang, W. (2008). Orientation-Singularity and Orientation-Workspace Analyses of the Stewart Platform Using Unit Quaternion. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_15
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DOI: https://doi.org/10.1007/978-3-540-88513-9_15
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