Position and orientation identification of platform manipulators

Document Type

Conference Proceeding

Publication Date

1-1-2001

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

1542411670 (Scopus)

Publication Title

ASME International Mechanical Engineering Congress and Exposition Proceedings

First Page

1771

Last Page

1778

Volume

2

This document is currently not available here.

Share

COinS