A Lagrangian formulation in terms of quasi-coordinates for the inverse dynamics of the general 6-6 Stewart platform manipulator

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This paper presents a closed inverse dynamic formulation by the Lagrangian approach in terms of quasi-coordinates for the general 6-6 Stewart platform manipulator. It is shown that the symbolic computation using quasi-coordinates is most efficient as the structure undergoes finite rotations. The derived inverse dynamic equations are demonstrated to be well structured, straightforward, and suitable for computer programming. Numerical examples are finally carried out to validate the approach. Results of simulation are justified to be useful in the design and dynamic control of the manipulator.

Original languageEnglish
Pages (from-to)1084-1090
Number of pages7
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Issue number3
Publication statusPublished - 2003 Sep 1



  • Inverse dynamics
  • Lagrangian
  • Quasi-coordinates
  • Stewart platform manipulator

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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