A new Approach for the Forward Kinematics of General Stewart-Gough Platforms
In this paper a complete forward kinematics analysis of a general Stewart-Gough platform is performed. A new methodology to deal with the forward kinematics problem based on a multibody formulation is presented. An iterative algorithm is proposed and the forward kinematics using a numerical met...
| Autor Principal: | Cardona, Manuel |
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| Formato: | info:eu-repo/semantics/article |
| Idioma: | eng |
| Publicado: |
© IEEE
2016
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| Materias: | |
| Acceso en línea: |
Cardona, Manuel. (2015). A new Approach for the Forward Kinematics of General Stewart-Gough Platforms. IEEE Thirty-fifth Convention of Central America and Panama (CONCAPAN XXXV). Tegucigalpa, Honduras. |
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| Sumario: |
In this paper a complete forward kinematics
analysis of a general Stewart-Gough platform is performed. A
new methodology to deal with the forward kinematics problem
based on a multibody formulation is presented. An iterative
algorithm is proposed and the forward kinematics using a
numerical method is solved. Finally, a design of a simulator using
MATLAB as programming tool is presented. |
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