Complete kinematic analysis of the Stewart-Gough platform by unit quaternions

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dc.contributor.authorSerrano, Fernando E.
dc.contributor.authorRossell Garriga, Josep Maria
dc.contributor.groupUniversitat Politècnica de Catalunya. CoDAlab - Control, Modelització, Identificació i Aplicacions
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtiques
dc.date.accessioned2018-12-20T11:54:04Z
dc.date.available2018-12-20T11:54:04Z
dc.date.issued2015
dc.description.abstractIn this paper, a complete analysis of Stewart–Gough platform kinematics by unit quaternions is proposed. Even when unit quaternions have been implemented in different applications (including a kinematic analysis of the Stewart platform mechanism), the research regarding the application of this approach is limited only to the analysis of some issues related to the kinematic properties of this parallel mechanism. For this reason, a complete analysis of the Stewart–Gough platform is shown. The derivation of the inverse and forward kinematics of the Stewart platform using unit quaternions shows that they are suitable to represent the orientation of the upper platform due to their simplicity, equivalence, and compact representation as compared to rotation matrices. Then, the leg velocities are derived to compute these values under different conditions
dc.description.peerreviewedPeer Reviewed
dc.description.versionPostprint (published version)
dc.format.extent11 p.
dc.identifier.citationSerrano , F., Rossell, J. M. Complete kinematic analysis of the Stewart-Gough platform by unit quaternions. "Mechanics and Control", 2015, vol. 34, núm. 4, p. 59-69.
dc.identifier.doi10.7494/mech.2015.34.4.59
dc.identifier.issn2083-6759
dc.identifier.urihttps://hdl.handle.net/2117/126074
dc.language.isoeng
dc.publisherAGH University of Science and Technology Press
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO//DPI2015-64170-R/ES/DISEÑO DE ESTRATEGIAS AVANZADAS DE CONTROL Y DETECCION DE FALLOS PARA SISTEMAS MECATRONICOS COMPLEJOS/
dc.relation.publisherversionhttp://journals.bg.agh.edu.pl/MECHANICS-CTRL/2015.34.4/mech.2015.34.4.59.pdf
dc.rights.accessOpen Access
dc.subjectÀrees temàtiques de la UPC::Matemàtiques i estadística::Matemàtica aplicada a les ciències
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica::Fabricació::Disseny i accionaments de robots
dc.subject.lcshParallel robots
dc.subject.lcshQuaternions
dc.subject.lcshRobotics
dc.subject.lemacRobots en paral·lel
dc.subject.lemacQuaternions
dc.subject.lemacRobòtica
dc.subject.otherStewart platform
dc.subject.otherParallel kinematics
dc.subject.otherUnit quaternions
dc.subject.otherRobotics
dc.titleComplete kinematic analysis of the Stewart-Gough platform by unit quaternions
dc.typeArticle
dspace.entity.typePublication
local.citation.authorSerrano, F.; Rossell, Josep M.
local.citation.endingPage69
local.citation.number4
local.citation.publicationNameMechanics and Control
local.citation.startingPage59
local.citation.volume34
local.identifier.drac23561738

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