Inverse kinematics of a 3 DOF parallel manipulator: A conformal geometric algebra approach

Abstract

In this paper we propose a method to solve the inverse kinematic of a 3 DOF parallel manipulator, best know as Stewart platform. Using the entities of the rotors and motors it is possible define an algorithm to find the joint values of each actuator that allow to reach the desired position and orientation of the manipulator, describing only one geometric solution for one arm of the platform and applying a rigig transformation to this solution in order to define the solution for the rest of the arms of the robot. Simulations and real time implementation of the algorithm were done to prove the effectiveness of the proposal.