A unified method for computing position and orientation workspaces of general Stewart platforms
Cita com:
hdl:2117/17966
Tipus de documentText en actes de congrés
Data publicació2011
Condicions d'accésAccés obert
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Abstract
The workspace of a Stewart platform is a complex six-
dimensional volume embedded in the Cartesian space defined b
y
six pose parameters. Because of its large dimension and com-
plex shape, such workspace is difficult to compute and repres
ent,
so that comprehension on its structure is being gained by stu
dy-
ing its three-dimensional slices. While successful method
s have
been given to determine the constant-orientation slice, th
e com-
putation and appropriate visualization of the constant-po
sition
slice (also known as the orientation workspace) has proved t
o
be a challenging task. This paper presents a unified method fo
r
computing both of such slices, and any other ones defined by
fixing three pose parameters, on general Stewart platforms i
n-
volving mechanical limits on the active and passive joints.
Ad-
ditional advantages over previous methods include the abil
ity to
determine all connected components of the workspace, and an
y
motion barriers present in its interior.
CitacióBohigas, O.; Ros, L.; Manubens, M. A unified method for computing position and orientation workspaces of general Stewart platforms. A: ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. "Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference". Washington: 2011, p. 959-968.
Versió de l'editorhttp://dx.doi.org/10.1115/DETC2011-47836
Col·leccions
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [576]
- DCCG - Grup de recerca en geometria computacional, combinatoria i discreta - Ponències/Comunicacions de congressos [68]
- ROBiri - Grup de Percepció i Manipulació Robotitzada de l'IRI - Ponències/Comunicacions de congressos [252]
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