Title :
Resolution of the Direct Position Problem of Parallel Kinematic Platforms Using the Geometrical-Iterative Method
Author :
Petuya, Víctor ; Alonso, Antonio ; Altuzarra, Oscar ; Hernández, Alfonso
Author_Institution :
Department of Mechanical Engineering Faculty of Engineering in Bilbao University of the Basque Country. Alameda de Urquijo s/n, 48013-Bilbao Spain, imppearv@bi.ehu.es
Abstract :
This paper presents the application of the procedure known as the Geometrical-Iterative Method to the resolution of the direct position problem in spatial mechanisms, and in particular parallel platforms. This procedure is based on the successive application of geometric constraints used for modelling the mechanism. The application sequence of these is defined from a search algorithm directed at satisfying two basic convergence conditions. The method is a competitive alternative for the Newton-Raphson procedure in the kinematic control of parallel platforms.
Keywords :
geometric constraint; parallel manipulator; position problem; Convergence; Costs; Equations; Kinematics; Mechanical engineering; Newton method; Polynomials; Robustness; Solid modeling; Spatial resolution; geometric constraint; parallel manipulator; position problem;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570610