Forward Kinematics of a Stewart Parallel Mechanism (CROSBI ID 34020)
Prilog u knjizi | ostalo
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