Transfer Matrices of Orthogonal Gough-Stewart Platforms

Farhad Jafari, John E. McInroy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


We characterize the set of all transfer matrices associated with orthogonal Gough-Stewart platforms and give estimates of the system gain for these alternative geometries. This result establishes the function space of the admissible matrices over RH where the control and design will be optimized.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Number of pages6
StatePublished - Dec 1 2003
Externally publishedYes
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216


Other42nd IEEE Conference on Decision and Control
Country/TerritoryUnited States
CityMaui, HI


  • Gough-Stewart Platforms
  • Hexapod
  • Isotropic
  • Parallel manipulators
  • System gain
  • Transfer matrices


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