Pregled bibliografske jedinice broj: 288180
Forward Kinematics of a Stewart Parallel Mechanism
Forward Kinematics of a Stewart Parallel Mechanism // Intelligent Systems at the Service of Mankind / Elmenreich, W. ; Machado, J.T. ; Rudas, I.J. (ur.).
Lahti: Ubooks, 2004. str. 121-132
CROSBI ID: 288180 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Forward Kinematics of a Stewart Parallel Mechanism
Autori
Jakobović, Domagoj ; Budin, Leo
Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, ostalo
Knjiga
Intelligent Systems at the Service of Mankind
Urednik/ci
Elmenreich, W. ; Machado, J.T. ; Rudas, I.J.
Izdavač
Ubooks
Grad
Lahti
Godina
2004
Raspon stranica
121-132
ISBN
3-935798-25-3
Ključne riječi
forward kinematics, Stweart platform, real-time environment
Sažetak
Parallel kinematic manipulators posses some inherent advantages over their serial counterparts, such as rigidity, precision and higher workload. However, their movement control is restricted to inverse kinematics only, because of the complexity of the forward kinematics relations. 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.
Izvorni jezik
Engleski
Znanstvena područja
Računarstvo
