资源简介
本matlab程序仿真了6自由度Stewart平台，得到了正反解，并提供了可视化的GUI界面，可作为求解工作空间的参考，其中正解方法参考自以下论文：
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.
（本程序转载自Github）
代码片段和文件信息
% 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 属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
目录 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
目录 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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