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dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.authorThomas, Federico
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationPorta, 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.
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dc.description.abstractThe 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.
dc.format.extent7 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.titleYet another approach to the Gough-Stewart platform forward kinematics
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
dc.description.versionPostprint (author's final draft)
upcommons.citation.authorPorta, J.; Thomas, F.
upcommons.citation.contributorIEEE International Conference on Robotics and Automation
upcommons.citation.publicationName2018 IEEE International Conference on Robotics and Automation (ICRA)

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