ControlThe animation left is about the position tracking for a Stewart platform. The analytical solutions to Forward and Inverse Kinematics could not be found due to its complex structure.
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Tracking with Color ChangeGiven an arbitrary Helical trajectory, the moving base could still trace the position and orientation perfectly. And the pistons’ length varied with time could also be easily calculated based on this method. After knowing these joints’ position. It's worth to mention when the position and the orientation of the top disk is changed, the color also change simultaneously. |