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Pregled bibliografske jedinice broj: 288180

Forward Kinematics of a Stewart Parallel Mechanism


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.).
Germany: Ubooks, 2004. str. 121-132


Naslov
Forward Kinematics of a Stewart Parallel Mechanism

Autori
Jakobović, Domagoj ; Budin, Leo

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, ostalo

Knjiga
Intelligent Systems at the Service of Mankind

Urednik/ci
Elmenreich, W. ; Machado, J.T. ; Rudas, I.J.

Izdavač
Ubooks

Grad
Germany

Godina
2004

Raspon stranica
121-132

ISBN
3-935798-25-3

Ključne riječi
Forward kinematics, Stweart platform, real-time environment

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo



POVEZANOST RADA


Projekt / tema
0036051

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb