Results 261 to 270 of about 4,625,554 (288)
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Robotica, 2000
A 6-DOF motion bed is proposed as a nonlinear robust observer to solve the forward kinematics problem of a Stewart platform. The stability of the estimation error dynamics is proved via Lyapunov stability analysis and the error dynamics shows practical stability. An observer design algorithm which tackles the nonlinearity and uncertainty both
Dong Hwan Kim, Ji-Yoon Kang, Kyo-Il Lee
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A 6-DOF motion bed is proposed as a nonlinear robust observer to solve the forward kinematics problem of a Stewart platform. The stability of the estimation error dynamics is proved via Lyapunov stability analysis and the error dynamics shows practical stability. An observer design algorithm which tackles the nonlinearity and uncertainty both
Dong Hwan Kim, Ji-Yoon Kang, Kyo-Il Lee
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Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002
In this paper a general method is presented, based on the data of three point positions, velocities and accelerations of the end effector, for solving the forward kinematics problem of any platform-type manipulator, including the 6 DOF Stewart Platform. Numerical examples are included to demonstrate the application of the method.
Xiaolun Shi, Robert G. Fenton
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In this paper a general method is presented, based on the data of three point positions, velocities and accelerations of the end effector, for solving the forward kinematics problem of any platform-type manipulator, including the 6 DOF Stewart Platform. Numerical examples are included to demonstrate the application of the method.
Xiaolun Shi, Robert G. Fenton
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A closed-form forward kinematics solution for the 6-6/sup p/ Stewart platform
IEEE Transactions on Robotics and Automation, 2001Studies the forward kinematics of a special 6-6 Stewart platform, in which both the base and the mobile platforms are similar hexagons. A concise closed-form solution to the forward kinematics of the Stewart platform is obtained by introducing a quaternion to represent the transformation matrix.
Ping Ji 0001, Hongtao Wu
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Solution to the forward instantaneous kinematics for a general 6-DOF Stewart platform
Mechanism and Machine Theory, 1992Abstract In this paper a method is presented for solving the forward instanteneous kinematics of a general 6-DOFStewart Platform. The method, which is general and easy to implement, is based on the velocities of three non-collinear points of the end effector.
X Shi, R.G Fenton
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Forward and Inverse Kinematic Solutions of a New Three Dimensional Metrology Frame
Manufacturing Science and Engineering: Volume 2, 1997Abstract A concept for a three dimensional, non-contacting metrology system is presented. Both the forward and the inverse kinematics solutions for the system are developed using a line geometry, resulting in an efficient representation that may describe a general assembly of the kinematic system and error parameters determined through ...
Dale E. Schinstock, James F. Cuttino
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Neural Network Solutions for Forward Kinematics Analysis of 2-(6UPS) Manipulator
Applied Mechanics and Materials, 2014In this paper, we present Kinematic analysis of a specific class of series–parallel manipulators, known as 2(6-UPS) manipulator, which composed of two modules which consist of elementary manipulators with the parallel structure of the Stewart Platform.
Arash Rahmani, Ahmad Ghanbari
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Forward kinematic solution through geometry analysis for rehabilitation cable robot
The 7th 2014 Biomedical Engineering International Conference, 2014We have an interest in the forward kinematic solution of a three-DOF cable-driven parallel end effecter for rehabilitation of the upper limbs. Although to solve the forward kinematic solution is to decide the position and orientation of end effecter by using four given cable lengths, it is well known that it is difficult to make sure the only solution ...
Hieyong Jeong +5 more
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Singularity analysis of planar parallel manipulators based on forward kinematic solutions
Mechanism and Machine Theory, 2009zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Firmani, Flavio, Podhorodeski, Ron P.
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D-H Parameters and Forward Kinematics Solution for 6D of Surgical Robot
Applied Mechanics and Materials, 2013Since 1985 when the first appear of robots in surgery field, the interest and the amount of research in surgical robots have been increase significantly. We study in this paper the kinematics of a 6dof surgical robot by determining Denavit-Hartenberg parameters using simple approach supported by robotic toolbox.
Edris Farah, Shao Gang Liu
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Journal of Field Robotics
ABSTRACT This paper presents a novel cable‐climbing mechanism: the Collaborative Climbing Robot Squad (CCRobot‐S), a variant of Reconfigurable Cable‐Driven Parallel Robots (R‐CDPR), specifically designed for the inspection and maintenance of stay cables.
Zhenliang Zheng +4 more
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ABSTRACT This paper presents a novel cable‐climbing mechanism: the Collaborative Climbing Robot Squad (CCRobot‐S), a variant of Reconfigurable Cable‐Driven Parallel Robots (R‐CDPR), specifically designed for the inspection and maintenance of stay cables.
Zhenliang Zheng +4 more
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