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travis12884 months ago

Question about your rotation matrix. All the other documents I've found for the stewart platform inverse kinematics use a rotation matrix that is identical to yours except that the matrix positions of the terms




are swapped. Can you please explain why this is? I've attached an image of the usual rotation matrix I see being used in other implementations of the platform. I appreciate your help, and great work!

ThomasKNR (author)  travis12883 months ago
Since it is a long time ago i'm not sure. But if i remember correctly, i copied the rotation matrix from somewhere, it was one of a few things i didn't do myself. I checked it, but i could be wrong of course... if you find out that it is really incorrect, let me know and i will check it.