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Bibliographic record number: 89722

Journal

Authors: Jakobović, Domagoj; Jelenković, Leonardo
Title: The Forward And Inverse Kinematics Problems For Stewart Parallel Mechanisms
( The Forward And Inverse Kinematics Problems For Stewart Parallel Mechanisms )
Source: CIM 2002 Computer Integrated Manufacturing and High Speed Machining / Cebalo, Roko ; Schulz, Herbert (ed). - Brijuni : Croatian Association of Product Engineering , 2002. II-001 - II-012.
Meeting: 8th International Scientific Conference on Production Engineering (CIM 2002)
Location and date: Brijuni, Hrvatska, 13-14.06.2002.
Keywords: hexapod; forward kinematics; inverse kinematics; iterative algorithms; canonical formulation; workspace area
( hexapod; forward kinematics; inverse kinematics; iterative algorithms; canonical formulation; workspace area )
Abstract:
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. In addition inverse kinematics problem is presented and its usage is demonstrated on workspace area calculation.
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: 036014
Original language: eng
Category: Znanstveni
Research fields:
Computer science
Full paper text: 89722.CIM2002.pdf



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