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

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10.7494/mech.2015.34.4.59
 
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hdl:2117/126074

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Serrano, Fernando E.
Rossell Garriga, Josep MariaMés informacióMés informacióMés informació
Document typeArticle
Defense date2015
PublisherAGH University of Science and Technology Press
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
ProjectDISEÑO DE ESTRATEGIAS AVANZADAS DE CONTROL Y DETECCION DE FALLOS PARA SISTEMAS MECATRONICOS COMPLEJOS (MINECO-DPI2015-64170-R)
Abstract
In 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
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. 
URIhttp://hdl.handle.net/2117/126074
DOI10.7494/mech.2015.34.4.59
ISSN2083-6759
Publisher versionhttp://journals.bg.agh.edu.pl/MECHANICS-CTRL/2015.34.4/mech.2015.34.4.59.pdf
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