Naslov
Hexapod Structure Evaluation as Web Service

Autori
Jelenković, Leonardo ; Jakobović, Domagoj ; Budin, Leo

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

Izvornik
Proc. 1st Int. Conference on Informatics in Control, Automation and Robotics, ICINCO 2004 / Araujo, Helder ; Vieira, Alves ; Carvalho, Marina - Setúbal : INSTICC Press, 2004, 492-497

Skup
1st Int. Conference on Informatics in Control, Automation and Robotics, ICINCO 2004

Mjesto i datum
Setúbal, Portugal, 25.08.2004. - 28.08.2004

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Stewart platform; workspace; error analysis; kinematic parameters; forward kinematics

Sažetak
This paper describes several methods for evaluation of kinematic parameters of a Stewart platform. One of those methods is the calculation of workspace area both in numerical and graphical form. The second method allows us to analyze and estimate inherent mechanism errors that occur due to actuator errors, elastic and thermal deformations and other error sources. Furthermore, another procedure is presented which calculates certain kinematic parameters throughout the workspace area of the model and outputs them as numerical and graphical data. Finally, a forward kinematics algorithm designed for use in real-time conditions and its adaptation is presented. The described algorithms are implemented and made available as web services on the project web site (http://hexapod.zemris.fer.hr/).

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

POVEZANOST RADA