Closed-Form Determination of the Location of a Rigid Body by Seven In-Parallel Linear Transducers-Reference-Cited by-同舟云学术

Closed-Form Determination of the Location of a Rigid Body by Seven In-Parallel Linear Transducers

Published:1998-06-01 Issue:2 Volume:120 Page:293-298
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Innocenti C.¹

Affiliation:

1. DIEM-University of Bologna, Viale Risorgimento, 2-40136 Bologna-Italy

Abstract

The paper presents an original analytic procedure for unambiguously determining the relative position and orientation (location) of two rigid bodies based on the readings from seven linear transducers. Each transducer connects two points arbitrarily chosen on the two bodies. The sought-for rigid-body location simply results by solving linear equations. The proposed procedure is suitable for implementation in control of fully-parallel manipulators with general geometry. A numerical example shows application of the reported results to a case study.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/120/2/293/5920716/293_1.pdf

Reference25 articles.

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3. Baron, L., and Angeles, J., 1994, “The Decoupling of the Direct Kinematics of Parallel Manipulators Using Redundant Sensors,” Proc. of the 1994 IEEE Int. Conf. on Robotics and Automation, San Diego, CA, May 8–13, pp. 974–979.

4. Baron, L., and Angeles, J., 1995, “A Linear Algebraic Solution of the Direct Kinematics of Parallel Manipulators Using a Camera,” Proc. of the Ninth World Congress on the Theory of Machines and Mechanisms, Milano, Italy, Aug. 29–Sept. 2, pp. 1925–1929.

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