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I think you may have a mistake in python code. That is: slerp_d = slerp * np.log(qf * q0.inverse()), I think the correct one is: slerp_d = slerp * np.log(q0.inverse()*qf).


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So I guess you want to know the DOF of the moving platform. First of all keep in mind that for a parallel mechanism with a fixed base and one moving platform the maximum degrees of freedom for the moving platform are 6, e.g. 3 rotational and 3 translational DOF. In this case it is kind of hard to see intuitively what DOF the moving platform could reach. So I ...


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