Position and orientation identification of platform manipulators

Zhiming Ji, Maximilian Rodriguez

Research output: Contribution to conferencePaperpeer-review

Abstract

A novel approach is developed for identifying both the position and orientation of the base joints of modular platform manipulators. This new approach first establishes a spherical triangle to isolate and solve for one of the unknown placement parameters. With the reduced complexity, a closed-form formulation is then developed for the remaining unknown parameters through Dialytic Elimination for two identification poses. The identification process with the presented method is illustrated with a numerical example.

Original languageEnglish (US)
Pages819-826
Number of pages8
StatePublished - Dec 1 2002
Event2001 ASME International Mechanical Engineering Congress and Exposition - New York, NY, United States
Duration: Nov 11 2001Nov 16 2001

Other

Other2001 ASME International Mechanical Engineering Congress and Exposition
CountryUnited States
CityNew York, NY
Period11/11/0111/16/01

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Software

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