# A geometric Newton-Raphson method for Gough-Stewart platforms

Conference item

Selig, JM and Li, H (2009). A geometric Newton-Raphson method for Gough-Stewart platforms.

*Fifth International Workshop on Computational Kinematics.*University of Duisburg-Essen, Germany 06 - 08 May 2009 London South Bank University. pp. 183 - 190 doi:10.1007/978-3-642-01947-0_23

Authors | Selig, JM and Li, H |
---|---|

Abstract | A geometric version of the well known Newton-Raphson methods is introduced. This root finding method is adapted to find the zero of a function defined on the group of rigid body displacements. At each step of the algorithm a rigid displacement is found that approximates the solution. The method is applied to the forward kinematics problem of the Gough-Stewart platform. © 2009 Springer-Verlag Berlin Heidelberg. |

Year | 2009 |

Journal | Proceedings of the 5th International Workshop on Computational Kinematics |

Publisher | London South Bank University |

Digital Object Identifier (DOI) | doi:10.1007/978-3-642-01947-0_23 |

Accepted author manuscript | License File description Conference paper |

Accepted author manuscript | License File description Presentation |

Publication dates | |

Print | 06 May 2009 |

Publication process dates | |

Deposited | 13 Dec 2016 |

ISBN | 9783642019463 |

Page range | 183 - 190 |

Permalink -

https://openresearch.lsbu.ac.uk/item/87q55

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