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A unified method for computing position and orientation workspaces of general Stewart platforms

Autor
Bohigas, O.; Ros, L.; Manubens, M.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
ASME 2011 International Design Engineering Technical Conferences
Any de l'edició
2011
Data de presentació
2011
Llibre d'actes
Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
Pàgina inicial
959
Pàgina final
968
DOI
https://doi.org/10.1115/DETC2011-47836 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/17966 Obrir en finestra nova
URL
http://dx.doi.org/10.1115/DETC2011-47836 Obrir en finestra nova
Resum
The workspace of a Stewart platform is a complex six- dimensional volume embedded in the Cartesian space defined b y six pose parameters. Because of its large dimension and com- plex shape, such workspace is difficult to compute and repres ent, so that comprehension on its structure is being gained by stu dy- ing its three-dimensional slices. While successful method s have been given to determine the constant-orientation slice, th e com- putation and appropriate visualization of the constant-po ...
Citació
Bohigas, O.; Ros, L.; Manubens, M. A unified method for computing position and orientation workspaces of general Stewart platforms. A: ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. "Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference". Washington: 2011, p. 959-968.
Paraules clau
Stewart platform, manipulators multi-robot systems robot kinematics PARAULES AUTOR: workspace
Grup de recerca
DCG - Discrete and Combinatorial Geometry
KRD - Cinemàtica i Disseny de Robots

Participants

  • Bohigas Nadal, Oriol  (autor ponent)
  • Ros Giralt, Lluis  (autor ponent)
  • Manubens Ferriol, Montserrat  (autor ponent)