2019
Inverse Kinematics and Sensitivity Minimization of an n-Stack Stewart Platform
IROS 2019poster
The method of Frobenius Norm (FN) minimization of forward kinematic Jacobians is presented to minimize the sensitivity of a robotic manipulator. We demonstrate the effectiveness of this approach with a Monte Carlo simulation of an Assembler robot. The Assembler is described as a stack of Stewart Pla…