Pregled bibliografske jedinice broj: 89476
Forward Kinematics of a Stewart Parallel Mechanism
Forward Kinematics of a Stewart Parallel Mechanism // Proc. 6th Int. Conf. on Intelligent Engineering Systems INES 2002 / Rudas, Imre; Lovrenčić, Alen (ur.).
Opatija: Fakultet organizacije i informatike Sveučilišta u Zagrebu, 2002. str. 149-154 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Forward Kinematics of a Stewart Parallel Mechanism
Autori
Jakobović, Domagoj ; Budin, Leo
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proc. 6th Int. Conf. on Intelligent Engineering Systems INES 2002
/ Rudas, Imre; Lovrenčić, Alen - Opatija : Fakultet organizacije i informatike Sveučilišta u Zagrebu, 2002, 149-154
Skup
6th Int. Conf. on Intelligent Engineering Systems (INES 2002)
Mjesto i datum
Opatija, Hrvatska, 26.05.2002. - 28.05.2002
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
stewart parallel manipulator; forward kinematics
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
