| contributor author | V. Parenti-Castelli | |
| contributor author | R. Di Gregorio | |
| date accessioned | 2017-05-08T23:57:20Z | |
| date available | 2017-05-08T23:57:20Z | |
| date copyright | December, 1998 | |
| date issued | 1998 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27656#549_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/120831 | |
| description abstract | The paper presents three algorithms for the determination of the actual configuration of the general geometry 6-6 fully-parallel mechanism by using two extra rotary sensors in addition to the six ones that are normally implemented in the servosystems of the six actuated legs. The three proposed algorithms provide a one-to-one correspondence between the sensor measurements and the configuration of the mechanism. Comparison of the three algorithms, that are all for real-time computation, is presented and one of them is shown to be a good compromise between precision and computation time. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors | |
| type | Journal Paper | |
| journal volume | 120 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2829313 | |
| journal fristpage | 549 | |
| journal lastpage | 554 | |
| identifier eissn | 1528-9001 | |
| keywords | Sensors | |
| keywords | Computation | |
| keywords | Geometry | |
| keywords | Mechanisms | |
| keywords | Algorithms | |
| keywords | Accuracy | |
| keywords | Servomechanisms AND Measurement | |
| tree | Journal of Mechanical Design:;1998:;volume( 120 ):;issue: 004 | |
| contenttype | Fulltext | |
