{"title":"Active acceleration compensation using a Stewart-platform on a mobile robot","authors":"R. Graf, R. Dillmann","doi":"10.1109/EURBOT.1997.633569","DOIUrl":null,"url":null,"abstract":"If an object is transported on a mobile platform, all accelerations of the mobile platform affect the object. This is of course undesirable, since accelerations can move or even damage the object. Stewart-platforms are mostly used for simulation, where the platform generates accelerations that increase the simulation's quality. Vice versa, it's possible to use a Stewart-platform mounted on a mobile platform to compensate the unwanted accelerations by generating a tilt. The necessary movement of the platform is calculated by a washout-filter. Applications of this combination include the transport of liquids in open boxes and medical transports, where the patients must not be affected by any acceleration.","PeriodicalId":129683,"journal":{"name":"Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots","volume":"102 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"40","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings Second EUROMICRO Workshop on Advanced Mobile Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/EURBOT.1997.633569","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 40
Abstract
If an object is transported on a mobile platform, all accelerations of the mobile platform affect the object. This is of course undesirable, since accelerations can move or even damage the object. Stewart-platforms are mostly used for simulation, where the platform generates accelerations that increase the simulation's quality. Vice versa, it's possible to use a Stewart-platform mounted on a mobile platform to compensate the unwanted accelerations by generating a tilt. The necessary movement of the platform is calculated by a washout-filter. Applications of this combination include the transport of liquids in open boxes and medical transports, where the patients must not be affected by any acceleration.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
