Yet another approach to the Gough-Stewart platform forward kinematics
Cita com:
hdl:2117/129382
Tipus de documentText en actes de congrés
Data publicació2018
Condicions d'accésAccés obert
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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 Gough-Stewart platform without variable elimination.
Descripció
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CitacióPorta, 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.
ISBN2577-087X
Versió de l'editorhttps://ieeexplore.ieee.org/document/8460900
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2125-Yet-Anothe ... orm-Forward-Kinematics.pdf | 1,202Mb | Visualitza/Obre |