Abstract
This paper presents the forward kinematics of the general Stewart–Gough platform using dialytic elimination. The proposed algorithm, when implemented in a computer language, provides all the solutions in fairly less computation time compared to the existing ones, mainly due to the fact that it directly leads to a 40th-degree univariate equation from a constructed 15×15 Sylvester’s matrix which is relatively small in size. In addition, the ways to avoid ill-conditioned linear systems in the solution procedure are dealt with for the purpose of enhancing the accuracy of the computed poses. Numerical examples are given to demonstrate the developed algorithm.
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