A Lie Group-Based Iterative Algorithm Framework for Numerically Solving Forward Kinematics of Gough–Stewart Platform
In this work, we began to take forward kinematics of the Gough–Stewart (G-S) platform as an unconstrained optimization problem on the Lie group-structured manifold SE(3) instead of simply relaxing its intrinsic orthogonal constraint when algorithms are updated on six-dimensional local flat Euclidean...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-04-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/9/7/757 |