Optimal path programming of the Stewart platform manipulator using the Boltzmann-Hamel-d'Alembert dynamics formulation model

Advanced Robotics

Volumn 22, Issue 6, 2008, Pages 705-730

  Chen, Chun Ta ^a   Liao, Te Tan ^b  

^a DA YEH UNIVERSITY   (Taiwan)

^b FAR EAST UNIVERSITY   (Taiwan)

Author keywords

Boltzmann Hamel Alembert formulation; Parallel mechanism; Particle swarm optimization; Singularity; Stewart platform manipulator

Indexed keywords

IMAGE CODING; MANIPULATORS; MECHANISMS; PARTICLE SWARM OPTIMIZATION (PSO); ROBOT PROGRAMMING; SECURITY OF DATA; SELF PHASE MODULATION; SINGLE POINT MOORING; STATISTICAL PROCESS CONTROL;

ACTUATING FORCES; ARBITRARY GEOMETRIES; BOLTZMANN; CONTROL POINTS; DYNAMIC EQUATIONS; DYNAMICS MODELING; GENERAL (CO); INVERSE DYNAMICS; MOVING PLATFORMS; NUMERICAL EXAMPLES; OPTIMAL CONTROL (OC); OPTIMAL PATHS; PARALLEL MECHANISM (PM); PARTICLE SWARM OPTIMIZATION ALGORITHM (PSOA); PROGRAMMING PROBLEMS; SINGULARITY FREE PATH; STEWART PLATFORMS; SYSTEMATIC METHODOLOGY; TASK SPACE;

DYNAMICS;

EID: 46249108313     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/156855308X305281     Document Type: Article

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