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...

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Bibliographic Details

Published in:	Mathematics
Main Authors:	Binhai Xie, Shuling Dai, Feng Liu
Format:	Article
Language:	English
Published:	MDPI AG 2021-04-01
Subjects:	Gough–Stewart platform forward kinematics lie group lie algebra exponential map Gauss–Newton
Online Access:	https://www.mdpi.com/2227-7390/9/7/757