Title :
A new approach for the forward kinematics of general stewart-gough platforms
Author_Institution :
Robot and Intelligence Machines Research Group, School of Engineering, Don Bosco University, El Salvador, C.A
Abstract :
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.
Keywords :
"Kinematics","Mathematical model","Quaternions","Geometry","MATLAB","End effectors"
Conference_Titel :
Central American and Panama Convention (CONCAPAN XXXV), 2015 IEEE Thirty Fifth
DOI :
10.1109/CONCAPAN.2015.7428478
