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資源簡介

本matlab程序仿真了6自由度Stewart平臺，得到了正反解，并提供了可視化的GUI界面，可作為求解工作空間的參考，其中正解方法參考自以下論文： 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. （本程序轉載自Github）

資源截圖

代碼片段和文件信息 

%?Filename:?coordtrans.m
%?Author:?Akihiko?Kumagai
%?Co-Author:?Joe?Brown?California?State?University?Sacramento??8/04/2006
%?Description:?This?file?contains?a?function?to?transform?coordinate?systems?used?in?the?forward?kinematics?analysis?based?on?the?Lee抯?paper?to?those?used?in?the?CDSL?Stewart?platform?system.
%?Definitions?of?frames?A?B?G?M?and?N?used?in?this?program?are?given?in?the?report:?Kumagai?A?and?Brown?J.P?揇evelopment?of?a?Closed?Form?Forward?Kinematics?Analysis?Program?for?the?6-DOF?CDSL?Stewart?Platform?Aug.?2006.
%?Descriptions?of?transformation?matrices:
%?	TGA:?translation?matrix?from?frame?G?to?frame?A
%?	TMB:?translation?matrix?from?frame?M?to?frame?B
%?	TBA:?transformation?（translation?+?rotation）?matrix?from?frame?B?to?frame?A.
%?	TGA:?translation?m

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-04-30?03:56??Steward-Platform-Forward-Kinematics-Solver-master\
?????文件?????????996??2015-04-30?03:56??Steward-Platform-Forward-Kinematics-Solver-master\README.md
?????目錄???????????0??2015-04-30?03:56??Steward-Platform-Forward-Kinematics-Solver-master\src\
?????文件????????2310??2015-04-30?03:56??Steward-Platform-Forward-Kinematics-Solver-master\src\coordtrans.m
?????文件?????????864??2015-04-30?03:56??Steward-Platform-Forward-Kinematics-Solver-master\src\formdata.txt
?????文件???????48047??2015-04-30?03:56??Steward-Platform-Forward-Kinematics-Solver-master\src\stew.m
?????文件???????19734??2015-04-30?03:56??Steward-Platform-Forward-Kinematics-Solver-master\src\stew_forward.m
?????文件????????5359??2015-04-30?03:56??Steward-Platform-Forward-Kinematics-Solver-master\src\stew_inverse.m

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