Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage
Joint Authors
Couder-Castañeda, Carlos
Torres-San-Miguel, C. R.
Hernández-Gómez, J. J.
Medina, I.
Solís-Santomé, A.
Ortiz-Alemán, J. C.
Grageda-Arellano, J. I.
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-10-03
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
In this work we develop a mathematical model to estimate the error for inverse kinematics problem for Gough-Stewart parallel mechanisms.
We propose the estimation error method to include manufacture, assembly, backlash, and sensing errors.
We provide the error transmission matrices for the length of each leg of the hexapod, which permits evaluation of the accuracy error in the position of each one, given a desired position and orientation of the mobile platform.
We also present numerical modelling in order to estimate the accuracy of the methodology herein proposed, for specific attitude operations corresponding to performing a successful ground-LEO nanosatellite optical link.
In such a case, we were able to provide the required tolerances for the actuators in order to guarantee an orientation precision requirement of the order of milliradians.
American Psychological Association (APA)
Hernández-Gómez, J. J.& Medina, I.& Torres-San-Miguel, C. R.& Solís-Santomé, A.& Couder-Castañeda, Carlos& Ortiz-Alemán, J. C.…[et al.]. 2018. Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1209716
Modern Language Association (MLA)
Hernández-Gómez, J. J.…[et al.]. Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage. Mathematical Problems in Engineering No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1209716
American Medical Association (AMA)
Hernández-Gómez, J. J.& Medina, I.& Torres-San-Miguel, C. R.& Solís-Santomé, A.& Couder-Castañeda, Carlos& Ortiz-Alemán, J. C.…[et al.]. Error Assessment Model for the Inverse Kinematics Problem for Stewart Parallel Mechanisms for Accurate Aerospace Optical Linkage. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1209716
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1209716