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Yet another approach to the Gough-Stewart platform forward kinematics

Author
Porta, J.; Thomas, F.
Type of activity
Presentation of work at congresses
Name of edition
IEEE International Conference on Robotics and Automation
Date of publication
2018
Presentation's date
2018
Book of congress proceedings
2018 IEEE International Conference on Mechatronics, Robotics and Automation : ICMRA 2018 : May 18-21, 2018, Hefei University of Technology, China
First page
974
Last page
980
DOI
https://doi.org/10.1109/ICRA.2018.8460900 Open in new window
Project funding
KINODYN: Kinodynamic planning of efficient and agile robot motions
RobCab: Control strategies for cable-driven robot for low-gravity simulation
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/129382 Open in new window
URL
https://ieeexplore.ieee.org/document/8460900 Open in new window
Abstract
The forward kinematics of the Gough-Stewart platform, and their simplified versions in which some leg endpoints coalesce, has been typically solved using variable elimination methods. In this paper, we cast doubts on whether this is the easiest way to solve the problem. We will see how the indirect approach in which the length of some extra virtual legs is first computed leads to important simplifications. In particular, we provide a procedure to solve 30 out of 34 possible topologies for a Goug...
Citation
Porta, J.; Thomas, F. Yet another approach to the Gough-Stewart platform forward kinematics. A: IEEE International Conference on Robotics and Automation. "2018 IEEE International Conference on Robotics and Automation (ICRA)". 2018, p. 974-980.
Keywords
robots
Group of research
KRD - Kinematics and Robot Design

Participants