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- W2036182757 abstract "This paper presents a new closed-form resolution scheme of the forward kinematics of parallel manipulators based on two concepts, local structurization and mechanism partition. This scheme is applied to 6-DOF Stewart platform manipulators and the effectiveness of this scheme is verified through numerical examples. It is shown that one extra sensor is sufficient for both 3-3 SPM and 6-3 SPM to exactly resolve the forward kinematic problem (FKP) in closed form and two sensors for 6-6 SPM. In previous research, at least three extra sensors were needed for closed-form resolution of the FKP for 6-6 SPM. Consequently, the new resolution scheme is efficient to implement and easy for real-time applications for the control of parallel manipulators." @default.
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- W2036182757 date "1996-06-01" @default.
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- W2036182757 title "New Resolution Scheme of the Forward Kinematics of Parallel Manipulators Using Extra Sensors" @default.
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- W2036182757 doi "https://doi.org/10.1115/1.2826872" @default.
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