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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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2015 |
| País: | El Salvador |
| Institución: | Universidad Don Bosco |
| Repositorio: | Repositorio Digital UDB |
| Idioma: | inglés |
| OAI Identifier: | oai:rd.udb.edu.sv:11715/959 |
| Acceso en línea: | http://hdl.handle.net/11715/959 |
| Access Level: | acceso abierto |
| Palabra clave: | Forward Kinematics MATLAB Multibody Formulation Numeric Method Parallel Platform Quaternions |
| 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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