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Published in:
2009 | OriginalPaper | Chapter
A Geometric Newton-Raphson Method for Gough-Stewart Platforms
Authors : J. M. Selig, Hui Li
Published in: Computational Kinematics
Publisher: Springer Berlin Heidelberg
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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.