A new Approach for the Forward Kinematics of General Stewart-Gough Platforms

Fecha
2015-11
Autores
Cardona, Manuel
Título de la revista
ISSN de la revista
Título del volumen
Editor
© IEEE
Resumen
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.
Descripción
Palabras clave
Forward Kinematics , MATLAB , Multibody Formulation , Numeric Method , Parallel Platform , Quaternions
Citación
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.