A geometric Newton-Raphson method for Gough-Stewart platforms

Jon Selig

doi:10.1007/978-3-642-01947-0_23

A geometric Newton-Raphson method for Gough-Stewart platforms

Jon Selig

Research output: Contribution to conference › Item › peer-review

4 Citations (Scopus)

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.

Original language	English
DOIs	https://doi.org/10.1007/978-3-642-01947-0_23
Publication status	Published - 6 May 2009
Externally published	Yes
Event	Fifth International Workshop on Computational Kinematics - Duration: 5 Jun 2009 → …

Conference

Conference	Fifth International Workshop on Computational Kinematics
Period	5/06/09 → …

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10.1007/978-3-642-01947-0_23Licence: CC BY 4.0

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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. {\textcopyright} 2009 Springer-Verlag Berlin Heidelberg.",

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AB - 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.

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M3 - Item

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A geometric Newton-Raphson method for Gough-Stewart platforms

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