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

Author
Bohigas, O.; Ros, L.; Manubens, M.
Type of activity
Presentation of work at congresses
Name of edition
ASME 2011 International Design Engineering Technical Conferences
Date of publication
2011
Presentation's date
2011
Book of congress proceedings
Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
First page
959
Last page
968
DOI
https://doi.org/10.1115/DETC2011-47836 Open in new window
Repository
http://hdl.handle.net/2117/17966 Open in new window
URL
http://dx.doi.org/10.1115/DETC2011-47836 Open in new window
Abstract
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 ...
Citation
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.
Keywords
Stewart platform, manipulators multi-robot systems robot kinematics PARAULES AUTOR: workspace
Group of research
DCG - Discrete and Combinatorial Geometry
KRD - Kinematics and Robot Design

Participants

  • Bohigas Nadal, Oriol  (author and speaker )
  • Ros Giralt, Lluis  (author and speaker )
  • Manubens Ferriol, Montserrat  (author and speaker )