Cart (Loading....) | Create Account
Close category search window
 

A closed-form solution to the direct kinematics of nearly general parallel manipulators with optimally located three linear extra sensors

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Bonev, I.A. ; Dept. of Mech. Eng., Laval Univ., Que., Canada ; Ryu, J. ; Sung-Gaun Kim ; Sun-Kyu Lee

This paper presents a new closed-form solution of the direct kinematic problem of nearly general parallel manipulators by using three linear extra sensors. The sensors are disposed at optimal location, connecting the planar base and the planar mobile platform at distinct points. The basic idea is to use the coordinates of the three distinct anchor points of the extra sensors on the mobile platform to represent the pose of the mobile platform. Thus, the extra sensory data enable one to reduce the problem to the solution of a system of six linear equations in six of the nine generalized coordinates. The other three coordinates are obtained directly from the extra sensory data. In addition, an optimal location of the extra sensors is sought by minimizing the condition number of the linear equations for the least sensitivity to sensor measurement errors. A numerical example is presented for optimal sensor location and the error behavior of the proposed solution scheme by computer simulation

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 2 )

Date of Publication:

Apr 2001

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.