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dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.authorThomas, Federico
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2019-02-19T12:34:15Z
dc.date.available2019-02-19T12:34:15Z
dc.date.issued2018
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.
dc.identifier.isbn2577-087X
dc.identifier.urihttp://hdl.handle.net/2117/129382
dc.description© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherrobots
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.identifier.doi10.1109/ICRA.2018.8460900
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/8460900
dc.rights.accessOpen Access
drac.iddocument23843699
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO/1PE/DPI2014-57220-C2-2-P
upcommons.citation.authorPorta, J.; Thomas, F.
upcommons.citation.contributorIEEE International Conference on Robotics and Automation
upcommons.citation.publishedtrue
upcommons.citation.publicationName2018 IEEE International Conference on Robotics and Automation (ICRA)
upcommons.citation.startingPage974
upcommons.citation.endingPage980


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