The Forward And Inverse Kinematics Problems For Stewart Parallel Mechanisms (CROSBI ID 484997)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Jakobović, Domagoj ; Jelenković, Leonardo
engleski
The Forward And Inverse Kinematics Problems For Stewart Parallel Mechanisms
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. In addition inverse kinematics problem is presented and its usage is demonstrated on workspace area calculation.
hexapod; forward kinematics; inverse kinematics; iterative algorithms; canonical formulation; workspace area
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Podaci o prilogu
II-001 - II-012-x.
2002.
objavljeno
Podaci o matičnoj publikaciji
CIM 2002 Computer Integrated Manufacturing and High Speed Machining
Cebalo, Roko ; Schulz, Herbert
Brijuni: Hrvatska udruga proizvodnog strojarstva (HUPS)
Podaci o skupu
8th International Scientific Conference on Production Engineering - CIM 2002
predavanje
13.06.2002-14.06.2002
Brijuni, Hrvatska