RESEARCH PAPERS: Mechanisms and Robotics Papers

Closed-Form Determination of the Location of a Rigid Body by Seven In-Parallel Linear Transducers

[+] Author and Article Information
C. Innocenti

DIEM-University of Bologna, Viale Risorgimento, 2-40136 Bologna-Italy

J. Mech. Des 120(2), 293-298 (Jun 01, 1998) (6 pages) doi:10.1115/1.2826971 History: Received January 01, 1996; Revised June 01, 1997; Online December 11, 2007


The paper presents an original analytic procedure for unambiguously determining the relative position and orientation (location) of two rigid bodies based on the readings from seven linear transducers. Each transducer connects two points arbitrarily chosen on the two bodies. The sought-for rigid-body location simply results by solving linear equations. The proposed procedure is suitable for implementation in control of fully-parallel manipulators with general geometry. A numerical example shows application of the reported results to a case study.

Copyright © 1998 by The American Society of Mechanical Engineers
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