Yet Another Approach to the Gough-Stewart Platform Forward Kinematics

被引：0

作者：

Porta, Josep M. ^{[1
]}

Thomas, Federico ^{[1
]}

机构：

[1] CSIC UPC, Inst Robot & Informat Ind IRI, Llorens Artigas 4-6, Barcelona 08028, Spain

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2018年

关键词：

PARALLEL; ALGORITHM; FORM;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：974 / 980

页数：7

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