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

nije evidentirano