KINEMATIC MODELING OF STEWART-GOUGH PLATFORMS

Pedro Cruz, Ricardo Ferreira, João Silva Sequeira

Abstract

This paper describes a method to solve the direct kinematics of a generic Stewart-Gough manipulators. The method is formulated in terms of a search in the space of rigid body transformations. The underlying idea is that the solutions of the direct kinematics can be obtained by moving the end-effector body according rotations and translations and accounting for the rigidity conditions. The paper presents simulation results for a 6-3 Stewart-Gough robot.

References

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Paper Citation


in Harvard Style

Cruz P., Ferreira R. and Silva Sequeira J. (2005). KINEMATIC MODELING OF STEWART-GOUGH PLATFORMS . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 93-99. DOI: 10.5220/0001189900930099


in Bibtex Style

@conference{icinco05,
author={Pedro Cruz and Ricardo Ferreira and João Silva Sequeira},
title={KINEMATIC MODELING OF STEWART-GOUGH PLATFORMS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={93-99},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001189900930099},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - KINEMATIC MODELING OF STEWART-GOUGH PLATFORMS
SN - 972-8865-30-9
AU - Cruz P.
AU - Ferreira R.
AU - Silva Sequeira J.
PY - 2005
SP - 93
EP - 99
DO - 10.5220/0001189900930099