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Bibliographic record number: 153822

Journal

Authors: Jelenković, Leonardo; Jakobović, Domagoj; Budin, Leo
Title: Hexapod Structure Evaluation as Web Service
( Hexapod Structure Evaluation as Web Service )
Source: Proc. 1st Int. Conference on Informatics in Control, Automation and Robotics, ICINCO 2004 / Araujo, Helder ; Vieira, Alves ; Carvalho, Marina (ed). - Setubal : INSTICC Press , 2004. 492-497.
Meeting: 1st Int. Conference on Informatics in Control, Automation and Robotics, ICINCO 2004
Location and date: Setubal, Portugal, 25-28.08.2004.
Keywords: Stewart platform; workspace; error analysis; kinematic parameters; forward kinematics
( Stewart platform; workspace; error analysis; kinematic parameters; forward kinematics )
Abstract:
This paper describes several methods for evaluation of kinematic parameters of a Stewart platform. One of those methods is the calculation of workspace area both in numerical and graphical form. The second method allows us to analyze and estimate inherent mechanism errors that occur due to actuator errors, elastic and thermal deformations and other error sources. Furthermore, another procedure is presented which calculates certain kinematic parameters throughout the workspace area of the model and outputs them as numerical and graphical data. Finally, a forward kinematics algorithm designed for use in real-time conditions and its adaptation is presented. The described algorithms are implemented and made available as web services on the project web site (http://hexapod.zemris.fer.hr/).
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: 153822.ICINCO2004.zip



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