KINEMATIC MODELING OF STEWART-GOUGH PLATFORMS

Pedro Cruz; Ricardo Ferreira; João Silva Sequeira

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Paper

KINEMATIC MODELING OF STEWART-GOUGH PLATFORMS

Topics: Modeling, Simulation and Architectures; Robot Design, Development and Control

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 93-99, 2005 , Barcelona, Spain

Authors: Pedro Cruz ¹ ; Ricardo Ferreira ¹ and João Silva Sequeira ²

Affiliations: ¹ Institute for Systems and Robotics, Portugal ; ² Instituto Superior Técnico, Institute for Systems and Robotics, Portugal

Keyword(s): Parallel robots, Direct kinematics, Inverse kinematics.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 93-99. DOI: 10.5220/0001189900930099

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - Cruz, P.
AU - Ferreira, R.
AU - Silva Sequeira, J.
PY - 2005
SP - 93
EP - 99
DO - 10.5220/0001189900930099
PB - SciTePress