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    A Real-Time Method for Solving the Forward Kinematics of a Tripod With Fixed-Length Legs

    Source: Journal of Manufacturing Science and Engineering:;2006:;volume( 128 ):;issue: 001::page 204
    Author:
    Younan Xu
    ,
    Fengfeng Xi
    DOI: 10.1115/1.2114928
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper presents a real-time method for solving the forward kinematics of a tripod with fixed-length legs. The basic idea is to model the problem at hand based on a spatial four-bar linkage through which three sliding legs can be interrelated by choosing one link as a driving variable and other two links as driven variables. As a result, the original multivariable nonlinear problem with three variables can be reduced to one variable problem. A complete approach is provided to solve the unitary nonlinear programing problem. This includes a method for solving the implicit functions in terms of the driving and driven variables, and an approximation method for selecting an initial value leading to a fast solution. The simulation results show that (i) the method is effective, (ii) can reach very accurate results within five iterations for an error bound of 10−10, and (iii) numerically very stable. The experiment results show that the proposed forward kinematic method is fast enough to be implemented in real time to provide an accurate prediction of the tool pose from the joint encoder measurement.
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      A Real-Time Method for Solving the Forward Kinematics of a Tripod With Fixed-Length Legs

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    http://yetl.yabesh.ir/yetl1/handle/yetl/134219
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    contributor authorYounan Xu
    contributor authorFengfeng Xi
    date accessioned2017-05-09T00:20:48Z
    date available2017-05-09T00:20:48Z
    date copyrightFebruary, 2006
    date issued2006
    identifier issn1087-1357
    identifier otherJMSEFK-27914#204_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/134219
    description abstractThis paper presents a real-time method for solving the forward kinematics of a tripod with fixed-length legs. The basic idea is to model the problem at hand based on a spatial four-bar linkage through which three sliding legs can be interrelated by choosing one link as a driving variable and other two links as driven variables. As a result, the original multivariable nonlinear problem with three variables can be reduced to one variable problem. A complete approach is provided to solve the unitary nonlinear programing problem. This includes a method for solving the implicit functions in terms of the driving and driven variables, and an approximation method for selecting an initial value leading to a fast solution. The simulation results show that (i) the method is effective, (ii) can reach very accurate results within five iterations for an error bound of 10−10, and (iii) numerically very stable. The experiment results show that the proposed forward kinematic method is fast enough to be implemented in real time to provide an accurate prediction of the tool pose from the joint encoder measurement.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Real-Time Method for Solving the Forward Kinematics of a Tripod With Fixed-Length Legs
    typeJournal Paper
    journal volume128
    journal issue1
    journal titleJournal of Manufacturing Science and Engineering
    identifier doi10.1115/1.2114928
    journal fristpage204
    journal lastpage212
    identifier eissn1528-8935
    treeJournal of Manufacturing Science and Engineering:;2006:;volume( 128 ):;issue: 001
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian