Kinematic evaluation and forward kinematic problem for Stewart platform based manipulators (CROSBI ID 491744)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Jakobović, Domagoj ; Jelenković, Leonardo
engleski
Kinematic evaluation and forward kinematic problem for Stewart platform based manipulators
In this paper two methods are presented. The first is a kinematic evaluation method for two different hexapod structures: standard Stewart platform manipulator with extensible struts and second structure with fixed strut lengths but sliding guideways on fixed platform. The second method addresses the forward kinematic problem where different mathematical representations are combined with various optimization algorithms to find a suitable combination that may be utilized in real-time environment. Additionally, we note the existence of equivalent trajectories of the mobile platform and suggest an adaptation to the solving method that, having satisfied certain assumptions, is able to successfully solve the forward kinematic problem in real-time conditions with very high precision.
kinematic evaluation; forward kinematics; Stewart manipulator
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Podaci o prilogu
2003.
objavljeno
Podaci o matičnoj publikaciji
Podaci o skupu
Int. Conference on Computational Cybernetics ICCC 2003
predavanje
29.08.2003-31.08.2003
Siófok, Mađarska