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

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.