• DocumentCode
    3758621
  • Title

    A new approach for the forward kinematics of general stewart-gough platforms

  • Author

    Manuel Cardona

  • Author_Institution
    Robot and Intelligence Machines Research Group, School of Engineering, Don Bosco University, El Salvador, C.A
  • fYear
    2015
  • Firstpage
    1
  • Lastpage
    6
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Central American and Panama Convention (CONCAPAN XXXV), 2015 IEEE Thirty Fifth
  • Type

    conf

  • DOI
    10.1109/CONCAPAN.2015.7428478
  • Filename
    7428478
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3758621