Position and orientation identification of platform manipulators

Zhiming Ji; Maximilian Rodriguez

Position and orientation identification of platform manipulators

Zhiming Ji, Maximilian Rodriguez

Mechanical and Industrial Engr

Research output: Contribution to conference › Paper › peer-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 language	English (US)
Pages	1771-1778
Number of pages	8
State	Published - 2001
Event	2001 ASME International Mechanical Engineering Congress and Exposition - New York, NY, United States Duration: Nov 11 2001 → Nov 16 2001

Conference

Conference	2001 ASME International Mechanical Engineering Congress and Exposition
Country/Territory	United States
City	New York, NY
Period	11/11/01 → 11/16/01

All Science Journal Classification (ASJC) codes

General Engineering

Cite this

@conference{ce793e5158464673abd8952171eeb2ce,

title = "Position and orientation identification of platform manipulators",

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.",

author = "Zhiming Ji and Maximilian Rodriguez",

year = "2001",

language = "English (US)",

pages = "1771--1778",

note = "2001 ASME International Mechanical Engineering Congress and Exposition ; Conference date: 11-11-2001 Through 16-11-2001",

}

TY - CONF

T1 - Position and orientation identification of platform manipulators

AU - Ji, Zhiming

AU - Rodriguez, Maximilian

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=1542411670&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=1542411670&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:1542411670

SP - 1771

EP - 1778

T2 - 2001 ASME International Mechanical Engineering Congress and Exposition

Y2 - 11 November 2001 through 16 November 2001

ER -

Position and orientation identification of platform manipulators

Abstract

Conference

All Science Journal Classification (ASJC) codes

Other files and links

Fingerprint

Cite this