Closed-form resolution scheme of the direct kinematics of parallel link systems based on redundant sensory information
Abstract
In this paper, the direct kinematics transformation in parallel link systems, based on redundant sensing approach is addressed. The redundant sensory information is provided by additional position sensors, connected directly to the parallel structure in a parallel manner. Optimization of position and the number of redundant sensors is performed by a proposed Geometrical-Structure-Partitioning Method. The efficiency of the method is verified by two examples - type 3-3 and 6-3 spatial structures, where only one redundant sensor is identified as sufficient for unique closed-form solution of the direct kinematics problem.
Source:
CIRP Annals - Manufacturing Technology, 1999, 48, 1, 341-344Publisher:
- Hallwag Publ Ltd, Berne
Collections
Institution/Community
Mašinski fakultetTY - JOUR AU - Petrović, Petar AU - Milačić, Vladimir PY - 1999 UR - https://machinery.mas.bg.ac.rs/handle/123456789/172 AB - In this paper, the direct kinematics transformation in parallel link systems, based on redundant sensing approach is addressed. The redundant sensory information is provided by additional position sensors, connected directly to the parallel structure in a parallel manner. Optimization of position and the number of redundant sensors is performed by a proposed Geometrical-Structure-Partitioning Method. The efficiency of the method is verified by two examples - type 3-3 and 6-3 spatial structures, where only one redundant sensor is identified as sufficient for unique closed-form solution of the direct kinematics problem. PB - Hallwag Publ Ltd, Berne T2 - CIRP Annals - Manufacturing Technology T1 - Closed-form resolution scheme of the direct kinematics of parallel link systems based on redundant sensory information EP - 344 IS - 1 SP - 341 VL - 48 DO - 10.1016/S0007-8506(07)63198-9 ER -
@article{ author = "Petrović, Petar and Milačić, Vladimir", year = "1999", abstract = "In this paper, the direct kinematics transformation in parallel link systems, based on redundant sensing approach is addressed. The redundant sensory information is provided by additional position sensors, connected directly to the parallel structure in a parallel manner. Optimization of position and the number of redundant sensors is performed by a proposed Geometrical-Structure-Partitioning Method. The efficiency of the method is verified by two examples - type 3-3 and 6-3 spatial structures, where only one redundant sensor is identified as sufficient for unique closed-form solution of the direct kinematics problem.", publisher = "Hallwag Publ Ltd, Berne", journal = "CIRP Annals - Manufacturing Technology", title = "Closed-form resolution scheme of the direct kinematics of parallel link systems based on redundant sensory information", pages = "344-341", number = "1", volume = "48", doi = "10.1016/S0007-8506(07)63198-9" }
Petrović, P.,& Milačić, V.. (1999). Closed-form resolution scheme of the direct kinematics of parallel link systems based on redundant sensory information. in CIRP Annals - Manufacturing Technology Hallwag Publ Ltd, Berne., 48(1), 341-344. https://doi.org/10.1016/S0007-8506(07)63198-9
Petrović P, Milačić V. Closed-form resolution scheme of the direct kinematics of parallel link systems based on redundant sensory information. in CIRP Annals - Manufacturing Technology. 1999;48(1):341-344. doi:10.1016/S0007-8506(07)63198-9 .
Petrović, Petar, Milačić, Vladimir, "Closed-form resolution scheme of the direct kinematics of parallel link systems based on redundant sensory information" in CIRP Annals - Manufacturing Technology, 48, no. 1 (1999):341-344, https://doi.org/10.1016/S0007-8506(07)63198-9 . .