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
Authors | Selig, JM and Li, H |
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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) | https://doi.org/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 | |
06 May 2009 | |
Publication process dates | |
Deposited | 13 Dec 2016 |
ISBN | 9783642019463 |
Page range | 183 - 190 |
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