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Forward Kinematics of a Stewart Parallel Mechanism (CROSBI ID 34020)

Prilog u knjizi | ostalo

Jakobović, Domagoj ; Budin, Leo Forward Kinematics of a Stewart Parallel Mechanism // Intelligent Systems at the Service of Mankind / Elmenreich, W. ; Machado, J.T. ; Rudas, I.J. (ur.). Lahti: Ubooks, 2004. str. 121-132-x

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.

forward kinematics, Stweart platform, real-time environment

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Podaci o prilogu

121-132-x.

objavljeno

Podaci o knjizi

Intelligent Systems at the Service of Mankind

Elmenreich, W. ; Machado, J.T. ; Rudas, I.J.

Lahti: Ubooks

2004.

3-935798-25-3

Povezanost rada

Računarstvo