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PARALLEL COMPUTING FOR NEWTON RAPHSON METHOD (CASE STUDY: STEWART PLATFORM)

ISBN 978-602-17488-0-0
Proceeding from JBPTITBPP / 2014-03-27 14:03:09
Oleh : Izzatul Ummah, Fitriyani, Central Library Institute Technology Bandung
Dibuat : 2014-03-27, dengan 1 file

Keyword : Stewart Platform, trajectory planning, Newton-Raphson, parallel computing

Stewart Platform is a parallel manipulator with closed-kinematic linkage that give it great rigidity and high

force-to-weight ratio. Stewart Platform can be used as a platform for driving simulator. Stewart Platform must be

able to move along specified path defined by the vehicleÂ’s position and orientation in time-based sequences. In

this thesis, a trajectory for Stewart Platform simulator (type 6-6, actuated by motor) is developed to simulate the

motion of simulator based on user input. The trajectory planner takes position and orientation as input, and then

maps it into platformÂ’s position and orientation as output. Things that must be considered in this trajectory

planning are calibration/adjustment of the Stewart PlatformÂ’s geometry limitation constraints and the user

experience. Next, by inverse kinematic and using numerical method Newton-Raphson, the desired angles of

servo motor is computed based on platformÂ’s position and orientation. Parallel computing can be used here to

enhance the numerical process in solving inverse kinematic analysis of Stewart Platform 6-6 motor, its trajectory

planning to simulate the motion which is developed by using physic engine.

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PropertiNilai Properti
ID PublisherJBPTITBPP
OrganisasiC
Nama KontakUPT Perpustakaan ITB
AlamatJl. Ganesha 10
KotaBandung
DaerahJawa Barat
NegaraIndonesia
Telepon62-22-2509118, 2500089
Fax62-22-2500089
E-mail Administratordigilib@lib.itb.ac.id
E-mail CKOinfo@lib.itb.ac.id

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