New resolution scheme of the forward kinematics of parallel manipulators using extra sensors
SCIE
SCOPUS
- Title
- New resolution scheme of the forward kinematics of parallel manipulators using extra sensors
- Authors
- Han, K; Chung, W; Youm, Y
- Date Issued
- 1996-06
- Publisher
- ASME-AMER SOC MECHANICAL ENG
- Abstract
- This paper presents a new closed-form resolution scheme of the forward kinematics of parallel manipulators based on two concepts, local structurization and mechanism partition. This scheme is applied to 6-DOF Stewart platform manipulators and the effectiveness of this scheme is verified through numerical examples. It is shown that one extra sensor is sufficient for both 3-3 SPM and 6-3 SPM to exactly resolve the forward kinematic problem (FKP) in closed form and two sensors for 6-6 SPM. In previous research, at least three extra sensors were needed for closed-form resolution of the FKP for 6-6 SPM. Consequently, the new resolution scheme is efficient to implement and easy for real-time applications for the control of parallel manipulators.
- Keywords
- STEWART
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/21548
- DOI
- 10.1115/1.2826872
- ISSN
- 1050-0472
- Article Type
- Article
- Citation
- JOURNAL OF MECHANICAL DESIGN, vol. 118, no. 2, page. 214 - 219, 1996-06
- Files in This Item:
- There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.