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Pregled bibliografske jedinice broj: 89476

Forward Kinematics of a Stewart Parallel Mechanism


Jakobović, Domagoj; Budin, Leo
Forward Kinematics of a Stewart Parallel Mechanism // Proc. 6th Int. Conf. on Intelligent Engineering Systems INES 2002 / Rudas, Imre; Lovrenčić, Alen (ur.).
Opatija: Faculty of Organization and Informatics, Croatia, 2002. str. 149-154 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Forward Kinematics of a Stewart Parallel Mechanism

Autori
Jakobović, Domagoj ; Budin, Leo

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proc. 6th Int. Conf. on Intelligent Engineering Systems INES 2002 / Rudas, Imre; Lovrenčić, Alen - Opatija : Faculty of Organization and Informatics, Croatia, 2002, 149-154

Skup
6th Int. Conf. on Intelligent Engineering Systems (INES 2002)

Mjesto i datum
Opatija, Hrvatska, 26-28.05.2002.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Stewart parallel manipulator; forward kinematics

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
036014

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb