Kinematical Solution of Hexapod 3R3R by Structural Approximation - Methods to Improve Convergence and Computational Complexity

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F10%3A00176282" target="_blank" >RIV/68407700:21220/10:00176282 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Kinematical Solution of Hexapod 3R3R by Structural Approximation - Methods to Improve Convergence and Computational Complexity

Original language description

The paper deals with a solution of the forward kinematics problem of the hexapod in 3R3R configuration using the method of structural approximation. Severeal approaches to improve the convergence and decrease the computational compaxity are presented - achoise of the most suitable structural approximation, a concept of relaxed iteration and an optimization of computational process. The global effect of these improvements is shown both on the number of iterations and computational time. Also the comparison with traditional Newton iterative method is shown.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

JQ - Machinery and tools

OECD FORD branch

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Project

<a href="/en/project/GD101%2F08%2FH068" target="_blank" >GD101/08/H068: Research of new principle of mechanical sand biomechanical systems with a intelligent behaviour</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2010

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Studentská tvůrčí činnost 2010

ISBN

978-80-01-04533-6

ISSN

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e-ISSN

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Number of pages

10

Pages from-to

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Publisher name

ČVUT v Praze - Fakulta strojní

Place of publication

Praha

Event location

Praha

Event date

Mar 30, 2010

Type of event by nationality

EUR - Evropská akce

UT code for WoS article

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