Napredna pretraga

Pregled bibliografske jedinice broj: 89722

The Forward And Inverse Kinematics Problems For Stewart Parallel Mechanisms


Jakobović, Domagoj; Jelenković, Leonardo
The Forward And Inverse Kinematics Problems For Stewart Parallel Mechanisms // CIM 2002 Computer Integrated Manufacturing and High Speed Machining / Cebalo, Roko ; Schulz, Herbert (ur.).
Brijuni: Croatian Association of Product Engineering, 2002. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
The Forward And Inverse Kinematics Problems For Stewart Parallel Mechanisms

Autori
Jakobović, Domagoj ; Jelenković, Leonardo

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

Izvornik
CIM 2002 Computer Integrated Manufacturing and High Speed Machining / Cebalo, Roko ; Schulz, Herbert - Brijuni : Croatian Association of Product Engineering, 2002

Skup
8th International Scientific Conference on Production Engineering (CIM 2002)

Mjesto i datum
Brijuni, Hrvatska, 13-14.06.2002

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Hexapod; forward kinematics; inverse kinematics; iterative algorithms; canonical formulation; workspace area

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo



POVEZANOST RADA


Projekt / tema
036014

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb