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TECHNICAL PAPERS

A New Algorithm Based on Two Extra-Sensors for Real-Time Computation of the Actual Configuration of the Generalized Stewart-Gough Manipulator

[+] Author and Article Information
Vincenzo Parenti-Castelli

Department of Mechanical Engineering, University of Bologna, Viale Risorgimento, 2 40136 Bologna, Italy e-mail: vincenzo.parenticastelli@mail.ing.unibo.it

Raffaele Di Gregorio

Department of Engineering, University of Ferrara, Via Saragat, 1 44100 Ferrara, Italy e-mail: rdigregorio@ing.unife.it

J. Mech. Des 122(3), 294-298 (Jan 01, 1999) (5 pages) doi:10.1115/1.1288485 History: Received January 01, 1999
Copyright © 2000 by ASME
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References

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Parenti-Castelli,  V., and Di Gregorio,  R., 1996, “Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors,” Proc. of the 1996 ASME Design Engineering Technical Conferences, paper 96-DETC/MECH-1010, Irvine CA. Also ASME J. Mech. Des., December 1998, 120, pp. 549–554.
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Figures

Grahic Jump Location
6-6 fully-parallel manipulator
Grahic Jump Location
Overconstrained fully-parallel spherical wrist structure
Grahic Jump Location
Overconstrained 5-5 structure

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