I am interested in finding a forward kinematic solution for a stewart platform using Matlab without simulink, any pointers would be greatly appreciated, Error using maplemex. Incompatibility with MuPad symbolic engine.

I have found code dating back to 2006 written in matlab using a direct algebraic substitution approach based on a paper from 2001 entitled Algebraic Elimination-Based Real-Time Forward Kinematics of the 6-6 Stewart Platform with Planar Base and Platform which I have attached. The code is made up a four .m files which and a couple of data files which I am so attaching. The main function stew.m can be run and the application seems to function in the inverse kinematic mode but when the forward kinematic solution is attempted things go awry. I am using Matlab 2018b and maple 2018. The forward kinematic solution runs in this configuration but is spitting out symbolic equations with enormous coeficients and ultimately throws a an error using maplemex in (MTM:-power) matrix must be square

I have tried to load matlab 2006 on my windows 7 64bit machine since this was a version of Matlab that by default used the Maplemex engine but I was not able to do so as Matlab 2006b is only available for windows 7 in 32bit form.

I believe the issues are related to the age of the code and some syntactical incompatibility. I am trying to get this code as is to run on a machine configured as one would have been back in 2006 to verify the code works from an algorithmic standpoint before I try and alter it to function on a modern platform.

Any suggestions as to how I should proceed would be greatly appreciated.

Answer 1

[LD Wang]

I got the same question with yours,How can I contact you? Can you share it together?

[Michael Mullaney]

I am currently working through the stew_forward algorithm using the current Matlab release 2018a along with the current symbolic math toolbox to try and find out where the code goes awry. I will post any solution I find. I am not sure how to share it together but am up for doing that if you know how.

I can be reached at [e-mail]

Answer 2

[Michael Farey]

I saw the issue with the forward part using the Maple function algsubs. Did you find a work around with that (other than getting Maple)