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Bibliographic record number: 123919

Journal

Authors: Jakobović, Domagoj; Jelenković, Leonardo
Title: Kinematic evaluation and forward kinematic problem for Stewart platform based manipulators
( Kinematic evaluation and forward kinematic problem for Stewart platform based manipulators )
Source: Proc. 1st Int. Conference on Computational Cybernetics ICCC 2003Siofok :
Meeting: Int. Conference on Computational Cybernetics ICCC 2003
Location and date: Siofok, Madžarska, 29-31.08.2003.
Keywords: kinematic evaluation; forward kinematics; Stewart manipulator
( kinematic evaluation; forward kinematics; Stewart manipulator )
Abstract:
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.
Type of meeting: Predavanje
Type of presentation in a journal: Full-text (1500 words and more)
Type of peer-review: International peer-review
Project / theme: 0036051
Original language: eng
Category: Znanstveni
Research fields:
Computer science
Full paper text: 123919.ICCC2003.pdf



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