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Error Analysis of a Stewart Platform Based Manipulators (CROSBI ID 484991)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Jelenković, Leonardo ; Budin, Leo Error Analysis of a Stewart Platform Based Manipulators // Proc. 6th Int. Conf. on Intelligent Engineering Systems INES 2002 / Rudas, Imre; Lovrenčić, Alen (ur.). Opatija: Fakultet organizacije i informatike Sveučilišta u Zagrebu, 2002. str. 155-159-x

Podaci o odgovornosti

Jelenković, Leonardo ; Budin, Leo

engleski

Error Analysis of a Stewart Platform Based Manipulators

Hexapod characteristic analyzed in this paper is the effect of small errors within its elements (strut lengths, joint placement) which can be caused by manufacturing tolerances or setting up errors or other even unknown sources to end effector. If all error values are known or can be calculated then they can be included in a model which will eliminate their defective effect. In practice there are very few error elements that are known in advance. For all others their values can just be assumed. What can be done now is to find a way to approximate value for maximal end effector displacement. The method we propose is a numerical method which is based on differential equations of close loop vector chains. The method can be used to calculate maximal end effector error for specific position and also for validation of entire hexapod workspace area, as shown in this paper.

stewart parallel manipulator; hexapod; inverse kinematics; error analysis

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Podaci o prilogu

155-159-x.

2002.

objavljeno

Podaci o matičnoj publikaciji

Proc. 6th Int. Conf. on Intelligent Engineering Systems INES 2002

Rudas, Imre; Lovrenčić, Alen

Opatija: Fakultet organizacije i informatike Sveučilišta u Zagrebu

Podaci o skupu

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

predavanje

26.05.2002-28.05.2002

Opatija, Hrvatska

Povezanost rada

Računarstvo