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 method i...
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| Format: | article |
| Status: | Published version |
| Publication Date: | 2015 |
| Country: | El Salvador |
| Institution: | Universidad Don Bosco |
| Repository: | Repositorio Digital UDB |
| Language: | English |
| OAI Identifier: | oai:rd.udb.edu.sv:11715/959 |
| Online Access: | http://hdl.handle.net/11715/959 |
| Access Level: | Open access |
| Keyword: | Forward Kinematics MATLAB Multibody Formulation Numeric Method Parallel Platform Quaternions |
| Summary: | 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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