Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama

Jakobović, Domagoj

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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

Cite this document

APA 6th Edition

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

MLA 8th Edition

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

Chicago 17th Edition

Harvard

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 18 March 2025, https://urn.nsk.hr/urn:nbn:hr:168:623077

Vancouver

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 2025 March 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:623077

IEEE

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

Cite this item: https://urn.nsk.hr/urn:nbn:hr:168:623077

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Metadata

Title	Ocjena učinkovitosti postupaka za rješavanje kinematike Stewartovih paralelnih mehanizama
Title (english)	The Evaluation of Problem Solving Methods for Stewart Parallel Mechanism Kinematics
Author	Domagoj Jakobović
Mentor	Leo Budin (mentor)
Committee member	Slobodan Ribarić (predsjednik povjerenstva)
Committee member	Leo Budin (član povjerenstva)
Committee member	Toma Udiljak (član povjerenstva)
Granter	University of Zagreb Faculty of Electrical Engineering and Computing (Department of Electronics, Microelectronics, Computer and Intelligent Systems) Zagreb
Defense date and country	2001-12-07, 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)
Language	croatian
URN:NBN	urn:nbn:hr:168:623077
Study programme	Title: Postgraduate master programe in computing Study programme type: university Study level: postgraduate Academic / professional title: magistar inženjer računarstva (magistar inženjer računarstva)
Type of resource	Text
File origin	Born digital
Access conditions	Closed access
Terms of use
Repository	FER Repository
Created on	2019-04-23 09:26:07