Forward Kinematics of a Stewart Parallel Mechanism (CROSBI ID 484938)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Jakobović, Domagoj ; Budin, Leo
engleski
Forward Kinematics of a Stewart Parallel Mechanism
Parallel kinematic manipulators posses some inherent advantages over their serial counterparts, such as rigidity, precision and higher workload. However, their movement control is restricted to inverse kinematics only, because of the complexity of the forward kinematics relations. The aim of this work is to combine different mathematical representations of the forward kinematics problem with various optimization algorithms and 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 kinematics problem in real-time conditions with very high precision.
stewart parallel manipulator; forward kinematics
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Podaci o prilogu
149-154-x.
2002.
objavljeno
Podaci o matičnoj publikaciji
Proc. 6th Int. Conf. on Intelligent Engineering Systems INES 2002
Rudas, Imre; Lovrenčić, Alen
Opatija: Fakultet organizacije i informatike Sveučilišta u Zagrebu
Podaci o skupu
6th Int. Conf. on Intelligent Engineering Systems (INES 2002)
predavanje
26.05.2002-28.05.2002
Opatija, Hrvatska