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 https://doi.org/10.1007/978-3-642-01947-0_23
AuthorsSelig, 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.

Year2009
JournalProceedings of the 5th International Workshop on Computational Kinematics
PublisherLondon South Bank University
Digital Object Identifier (DOI)https://doi.org/10.1007/978-3-642-01947-0_23
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Print06 May 2009
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Deposited13 Dec 2016
ISBN9783642019463
Page range183 - 190
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