Tootfinder

Validation of collision-free spheres of Stewart-Gough platforms for constant orientations using the Application Programming Interface of a CAD software
Bibekananda Patra, Rajeevlochana G. Chittawadigi, Sandipan Bandyopadhyay
https://arxiv.org/abs/2510.08408

Validation of collision-free spheres of Stewart-Gough platforms for constant orientations using the Application Programming Interface of a CAD software
This paper presents a method of validation of the size of the largest collision-free sphere (CFS) of a 6-6 Stewart-Gough platform manipulator (SGPM) for a given orientation of its moving platform (MP) using the Application Programming Interface (API) of a CAD software. The position of the MP is updated via the API in an automated manner over a set of samples within a shell enclosing the surface of the CFS. For each pose of the manipulator, each pair of legs is investigated for mutual collisions…

If you like “back and forth” with an LLM as a form of programming, may I suggest:
Pair programming.