Position and orientation identification of platform manipulators

Document Type

Conference Proceeding

Publication Date

12-1-2002

Abstract

A novel approach is developed for identifying both the position and orientation of the base joints of modular platform manipulators. This new approach first establishes a spherical triangle to isolate and solve for one of the unknown placement parameters. With the reduced complexity, a closed-form formulation is then developed for the remaining unknown parameters through Dialytic Elimination for two identification poses. The identification process with the presented method is illustrated with a numerical example.

Identifier

0242720185 (Scopus)

Publication Title

American Society of Mechanical Engineers Dynamic Systems and Control Division Publication DSC

First Page

819

Last Page

826

Volume

70

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