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scientific master's theses
Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2001. urn:nbn:hr:168:623077
Jakobović, Domagoj
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Electronics, Microelectronics, Computer and Intelligent Systems

Institutional repository: FER Repository

Cite this document

Jakobović, D. (2001). Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama (Scientific master's theses). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:623077

Jakobović, Domagoj. "Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama." Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, 2001. https://urn.nsk.hr/urn:nbn:hr:168:623077

Jakobović, Domagoj. "Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama." Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, 2001. https://urn.nsk.hr/urn:nbn:hr:168:623077

Jakobović, D. (2001). 'Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama', Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 06 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:623077

Jakobović D. Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama [Scientific master's theses]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2001 [cited 2024 May 06] Available at: https://urn.nsk.hr/urn:nbn:hr:168:623077

D. Jakobović, "Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama", Scientific master's theses, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2001. Available at: https://urn.nsk.hr/urn:nbn:hr:168:623077

Metadata
TitleOcjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama
Title (english)The Evaluation of Problem Solving Methods for Stewart Parallel Mechanism Kinematics
AuthorDomagoj Jakobović
MentorLeo Budin (mentor)
Committee memberSlobodan Ribarić (predsjednik povjerenstva)
Committee memberLeo Budin (član povjerenstva)
Committee memberToma Udiljak (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Electronics, Microelectronics, Computer and Intelligent Systems)
Zagreb
Defense date and country2001-12-07, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Universal decimal classification
(UDC)		004 - Computer science and technology. Computing. Data processing
621.3 - Electrical engineering
Abstract
U radu su izloženi postupci rješavanja problema unaprijedne kinematike Stewartovih paralelnih mehanizama. Opisane su osnovne inačice Stewartove platforme (heksapoda) i njihova uporaba. Odabrana je standardizirana izvedba mehanizma poradi jednoznačne ocjene učinkovitosti ispitivanih postupaka. Definirano je pet matematičkih opisa zadanoga problema. Svaki je pristup detaljno analiziran i određena su njegova najvažnija svojstva. Opisano je nekoliko načina rješavanja problema unaprijedne kinematike te je posebna pažnja posvećena konvergentnim postupcima optimiranja koji omogućuju rad u stvarnom vremenu. Predloženo je nekoliko novih načina poboljšanja rada algoritama optimiranja primijenjenih na zadani problem. Opisani postupci rješavanja iscrpno su ispitani u statičkim i dinamičkim uvjetima rada. Uočen je problem ekvivalentnih gibanja heksapoda uzrokovan postojanjem više rješenja unaprijedne kinematike. Predložene su prilagodbe postupaka rješavanja u cilju izbjegavanja praćenja ekvivalentnih gibanja. Rezultati upućuju na korisnost predloženih postupaka i mogućnost uporabe u većini praktičnih primjena.
Abstract (english)
In this work the problem solving methods for Stewart parallel mechanisms forward displacement analysis are presented. The most usual variants of Stewart platform mechanism (hexapod) and their applications are described. The standard model is defined in order to uniformly evaluate the effectiveness of presented methods. Five mathematical formulations of the problem are given. Each one is thoroughly investigated and its main features are recognized. Several approaches to solving forward kinematics are described. The iterative methods, which can be used in real-time applications, are presented in detail. A few new ways to improve the algorithms’ efficiency are proposed. The described problem solving procedures are thoroughly investigated and tested in both static and dynamic environment. The appearance of equivalent trajectories, caused by the existence of more than one solution to the problem, is discovered. Heuristic modifications are proposed in order to overcome the tracking of equivalent trajectories. The results point out to the possible use of described methods in the majority of realworld applications.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:623077
Study programmeTitle: Postgraduate master programe in computing
Study programme type: university
Study level: postgraduate
Academic / professional title: magistar inženjer računarstva (magistar inženjer računarstva)
Type of resourceText
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2019-04-23 09:26:07