Kinematic modeling of stewart-gough platforms

This paper describes a method to solve the direct kinematics of a generic Stewart-Gough manipulators. The method is formulated in terms of a search in the space of rigid body transformations. The underlying idea is that the solutions of the direct kinematics can be obtained by moving the end-effector body according rotations and translations and accounting for the rigidity conditions. The paper presents simulation results for a 6-3 Stewart-Gough robot.