2015 •
A new approach for the forward kinematics of general stewart-gough platforms
Authors: Cardona, Manuel
Venue: 2015 IEEE Thirty Fifth Central American and Panama Convention (CONCAPAN XXXV)
Type: Publication
Abstract: In this paper a complete forward kinematics analysis of a general Stewart-Gough platform is performed. A new methodology to deal with the forward kinematics problem based on a multibody formulation is presented. An iterative algorithm is proposed and the forward kinematics using a numerical method is solved. Finally, a design of a simulator using MATLAB as programming tool is presented.
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