Guaranteed solution of direct kinematic problems for general configurations of parallel manipulators

被引：49

作者：

Didrit, O ^{[1
]}

Petitot, M ^{[1
]}

Walter, E ^{[1
]}

机构：

[1] CNRS SUPELEC, Signaux & Syst Lab, F-91192 Gif Sur Yvette, France

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1998年 / 14卷 / 02期

关键词：

direct kinematic problem; guaranteed computations; interval arithmetic; nonlinear equations; parallel manipulator;

D O I：

10.1109/70.681244

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Finding all possible positions of a Stewart platform from the knowledge of the lengths of its limbs amounts to solving a set of nonlinear equations, the number of real solutions of which is, in the general case, unknown a priori. This paper shows how Hansen's algorithm, based upon interval analysis, can be used to get all solutions in an approximate but guaranteed way even when the platform is nonplanar and the equations are nonpolynomial and with real coefficients. Computation is simple enough to be performed on a personal computer.

引用

页码：259 / 266

页数：8

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