{"title":"基于stewart平台的移动机器人主动加速度补偿","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":"{\"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}","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}
Active acceleration compensation using a Stewart-platform on a mobile robot
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.
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