Naslov
Kinematic evaluation and forward kinematic problem for Stewart platform based manipulators

Autori
Jakobović, Domagoj ; Jelenković, Leonardo

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

Izvornik
Proc. 1st Int. Conference on Computational Cybernetics ICCC 2003 / - Siófok, 2003

Skup
Int. Conference on Computational Cybernetics ICCC 2003

Mjesto i datum
Siófok, Mađarska, 29.08.2003. - 31.08.2003

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
kinematic evaluation; forward kinematics; Stewart manipulator

Sažetak
In this paper two methods are presented. The first is a kinematic evaluation method for two different hexapod structures: standard Stewart platform manipulator with extensible struts and second structure with fixed strut lengths but sliding guideways on fixed platform. The second method addresses the forward kinematic problem where different mathematical representations are combined with various optimization algorithms to 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 kinematic problem in real-time conditions with very high precision.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA