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(2009-04-04)(2009-06-02)(2009-04-05)

1.

1956 V. E. Gough
1965 D. Stewart (Stewart Platform)

1 (parallel) 6
(linear actuator) 6 (platform)(base)
6

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1.

6 6
(Surge)(Sway)(Heave)(Roll)(Pitch)
(Yaw) 2
6
3D

2.

2 http://grc.yzu.edu.tw/

2.

6
6

(serial)

(singular
point)


3 3D
4 HET

3. [http://www.pascal.com.tw]

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4. HET Telescope Structure[http://www.as.utexas.edu/mcdonald/het/photos.html]

4 http://grc.yzu.edu.tw/

5. [Tanikawa and Arai, 1999]

3.

3.1

(Forward kinematics)


(Inverse kinematics)

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(1) Cartesian space[x, y, z, , , ]T[x, y, z][, , ]


x, y, z
(2) Joint space[S1, S2, S3, S4, S5, S6]T Si 6

Joint space Cartesian space


6

3.2

7 {P}
{B}
Op {B}
{P} Si

7.

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TP {P}{B}

x x
y
= Tp y (1)
z z

1 B 1 P

R TV
TP TV
0 1

TV = [X V , YV , Z V ]
T
(2)

TV
R

cos sin 0 cos 0 sin 1 0 0


R = R R R = sin cos 0 0 1
0 0 cos sin (3)
0 0 1 sin 0 cos 0 sin cos

, , x, y, z

7 Pi (i = 1, ..., 6) 6 Bi (i = 1,... ,6)


6 Pi {P} P Pi (2)

(3)(1) Pi B B Pi

B
Pi = TV + RP Pi , i = 1, ..., 6 (4)

B Pi B B i {B} i
S i

S i = B Pi B B i (5)

Li

Li = S i = S i S i , i = 1, ..., 6 (6)

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6 P Pi

B B i [x, y, z, , , ]T

TV R P Pi B B i (4)~(6)

3.3

8 9 10 6

Pi RP 100mm
Pi x
P Pi B i RB

150mm B i x B B i
(lmin) 333.97mm(lmax) 483.97mm

8.

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9.

10.

TV R
P Pi B B i TV R (4)~(6)
lmin lmax

4.


(inverse kinematics)

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Matlab 11 Platform
Transform
MatrixBase
(Vector Operation)
(Length & Check)

11.

(1) 6

12 3

y 9~11 (x, y, z)
(, , )
y 12~13 6
y 14~18 6
3 6 pp 23

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12. 6

13

13.

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(2) 6

14 26 26
28~36 6 3 6
(5) B B i (i = 1, ..., 6)

14. 6

(3)

15 x y z (yaw,
pitch, roll)(3) R J

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15.

(4)

16 P Pi B B i TV (4)

B Pi S i 17 3

16.

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17.

y Pm
TVO
TV 51~53
y 6 6
54~56
(4) TV + R P Pi
y 6 57~60

6 B Pi

(5)

18

B Pi B B i S i
y 62~67

(5)(6)

y 68~72 6
(Lmax)(Lmin)OK

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18.

19 (pci)[0, 0,
327.8](pcf)[0, 0, 360][0, -15, 0]f

LiOK

19.

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Tanikawa, T. and Arai, T., Development of a micro-manipulation system having a


two-fingered micro-hand IEEE Transaction on Robotics and Automation, v.15, n.1, 1999.

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