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	819-826
Number of pages	8
State	Published - 2002
Event	2001 ASME International Mechanical Engineering Congress and Exposition - New York, NY, United States Duration: Nov 11 2001 → Nov 16 2001

Other

Other	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

Mechanical Engineering
Software

Cite this

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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 = "2002",

language = "English (US)",

pages = "819--826",

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

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TY - CONF

T1 - Position and orientation identification of platform manipulators

AU - Ji, Zhiming

AU - Rodriguez, Maximilian

PY - 2002

Y1 - 2002

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 - https://www.scopus.com/pages/publications/0242720185

UR - https://www.scopus.com/inward/citedby.url?scp=0242720185&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0242720185

SP - 819

EP - 826

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

Other

All Science Journal Classification (ASJC) codes

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