Novel algorithms for computation of inverse kinematics and inverse dynamics of Gough-Stewart platform

Abstract

In this paper, we present new approaches for computation of the inverse kinematics and inverse dynamics of the Gough-Stewart platform. The new approach for the inverse kinematics, i.e., the calculation of joints velocity and acceleration, is based on using the projection matrices to directly related the mobile platform velocity and acceleration to active joints velocity and acceleration. The new approach for the inverse dynamics is rather unconventional, in the sense that it is based on implicit computation and the use of constraint forces. Our detailed analysis and comparison demonstrate that our new approach for computation of both inverse kinematics and inverse dynamics achieves a better computational efficiency than previously proposed methods.