| Autor: |
T. Březina, Pavel Houška, Lukas Březina, Ondrej Andrs |
| Rok vydání: |
2010 |
| Předmět: |
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| Zdroj: |
Recent Advances in Mechatronics ISBN: 9783642050213 |
| DOI: |
10.1007/978-3-642-05022-0_57 |
| Popis: |
This contribution deals with a position control analysis of the biomechanical testing device based on the Stewart Platform. The constructed mechanism represents a six-degree of freedom positioning manipulator. Its closed kinematic chain and parallel linkage structure give it great rigidity and large load-to-weight ratio. That makes it suitable for testing of the backbone segments and hip joints. The mechanism constructed on FME BUT contains two plates (base and platform) which are connected with six linear mechanical actuators to the each other. The device control task is based on inverse position kinematics. A model of the mechanism inverse kinematics was built for the control purposes in MATLAB software. Finally the controller algorithm was designed and implemented into LabVIEW environment which is suitable for a real-time control. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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