Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors

1998 ◽  
Vol 120 (4) ◽  
pp. 549-554 ◽  
Author(s):  
V. Parenti-Castelli ◽  
R. Di Gregorio
Keyword(s):  
Real Time ◽  
Parallel Mechanism ◽  
Computation Time ◽  
Good Compromise ◽  
One To One ◽  
Actual Configuration ◽  
General Geometry

The paper presents three algorithms for the determination of the actual configuration of the general geometry 6-6 fully-parallel mechanism by using two extra rotary sensors in addition to the six ones that are normally implemented in the servosystems of the six actuated legs. The three proposed algorithms provide a one-to-one correspondence between the sensor measurements and the configuration of the mechanism. Comparison of the three algorithms, that are all for real-time computation, is presented and one of them is shown to be a good compromise between precision and computation time.

Real-Time Computation of the Actual Posture of the General Geometry 6-6 Fully-Parallel Mechanism Using Two Extra Rotary Sensors

1996 ◽  
Author(s):  
V. Parenti-Castelli ◽  
R. Di-Gregorio
Keyword(s):  
Real Time ◽  
Parallel Mechanism ◽  
Computation Time ◽  
Good Compromise ◽  
One To One ◽  
Actual Configuration ◽  
General Geometry

Abstract The paper presents three algorithms for the determination of the actual configuration of the general geometry 6-6 fully-parallel mechanism by using two extra rotary sensors in addition to the six ones that are normally implemented in the servosystems of the six actuated legs. The three proposed algorithms provide a one-to-one correspondence between the sensor measurements and the configuration of the mechanism. Comparison of the three algorithms, that are all for real-time computation, is presented and one of them is shown to be a good compromise between precision and computation time.

A New Algorithm Based on Two Extra-Sensors for Real-Time Computation of the Actual Configuration of the Generalized Stewart-Gough Manipulator

1998 ◽  
Author(s):  
V. Parenti-Castelli ◽  
R. Di Gregorio
Keyword(s):  
Real Time ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Computational Burden ◽  
The Real ◽  
Position Analysis ◽  
Extra Information ◽  
Actual Configuration ◽  
General Geometry

Abstract It is well known that the direct position analysis of fully-parallel manipulators provides more than one solution, i.e., more than one configuration of the mechanism is possible for a given set of the actuated variables of motion. Extra information is, thus, necessary to find the actual configuration of the manipulator. This paper presents a new algorithm for the real-time computation of the actual configuration of the generalized Stewart-Gough manipulator, also known as 6-6 fully-parallel manipulator with general geometry. The proposed algorithm makes use of two extra rotary sensors in addition to the six normally implemented in the servosystems of the manipulator. A one-to-one correspondence between the sensor measurements and the manipulator configuration is provided. With respect to other algorithms recently presented in the literature, the proposed method greatly reduces the computational burden. Finally a case study shows the effectiveness of the proposed procedure.

A New Algorithm Based on Two Extra-Sensors for Real-Time Computation of the Actual Configuration of the Generalized Stewart-Gough Manipulator

1999 ◽  
Vol 122 (3) ◽  
pp. 294-298 ◽  
Author(s):  
Vincenzo Parenti-Castelli ◽  
Raffaele Di Gregorio
Keyword(s):  
Real Time ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Computational Burden ◽  
The Real ◽  
Position Analysis ◽  
Extra Information ◽  
Actual Configuration ◽  
General Geometry

It is well known that the direct position analysis of fully-parallel manipulators provides more than one solution, i.e., more than one configuration of the mechanism is possible for a given set of the actuated variables of motion. Extra information is, thus, necessary to find the actual configuration of the manipulator. This paper presents a new algorithm for the real-time computation of the actual configuration of the generalized Stewart-Gough manipulator, also known as 6-6 fully-parallel manipulator with general geometry. The proposed algorithm makes use of two extra rotary sensors in addition to five out of the six sensors normally implemented in the servosystems of the manipulator. A one-to-one correspondence between the sensor measurements and the manipulator configuration is provided. With respect to other algorithms recently presented in the literature, the proposed method greatly reduces the computational burden. Finally a case study shows the effectiveness of the proposed procedure. [S1050-0472(00)01703-7]

Determination of the Actual Configuration of the General Stewart Platform Using Only One Additional Sensor

1999 ◽  
Vol 121 (1) ◽  
pp. 21-25 ◽  
Author(s):  
V. Parenti-Castelli ◽  
R. Di Gregorio
Keyword(s):  
Stewart Platform ◽  
Rigid Bodies ◽  
Displacement Sensor ◽  
Leg Length ◽  
Displacement Sensors ◽  
On Line ◽  
Actual Configuration ◽  
General Geometry

This paper presents a procedure for the determination of the actual configuration of the general geometry Stewart platform (GSP), a fully-parallel manipulator that features two rigid bodies connected to each other via spherical pairs by six controlled-length legs. The six leg length measurements, provided by the displacement sensors incorporated in the leg hardware equipment, do not make it possible to uniquely find the GSP configuration because several configurations are possible for a given set of leg lengths. Several extra sensors in addition to those incorporated in the leg equipment have been proposed in the literature in order to obtain a one-to-one correspondence between the measurements and the actual GSP configuration. The proposed procedure makes use of only one additional displacement sensor and relies upon the analytical results available in the literature for a particular type of Stewart platform. The procedure, which uniquely defines the actual configuration of the GSP, is not intended for on-line implementation. Three different algorithms are proposed for computation and their efficiency compared. A case study is reported that confirms the effectiveness of the procedure.

EVALUASI KESESUAIAN PELAKSANAAN PROBITY AUDIT PADA BPKP PUSAT DENGAN PEDOMAN PROBITY AUDIT PENGADAAN BARANG/JASA PEMERINTAH

INFO ARTHA ◽  
2017 ◽  
Vol 1 (1) ◽  
pp. 17-34
Author(s):  
Fadlil Usman
Keyword(s):  
Public Sector ◽  
Real Time ◽  
Procurement Process ◽  
Assessment Activity

Probity audit is an independence assessment activity to ensure the goods/services procurement processes have been implemented consistently appropriate with the principle of upholding integrity, uprightness, honesty and fulfill certain occur legislation aimed for improving the accountability for the use of public sector fund. Probity audit is done in real time simultaneously with the goods/services procurement process. This study aims to evaluate the suitability of the implementation of probity audit conducted by BPKP Headquarter as agency that initiated the implementation of probity audit in Indonesia compared with the Probity audit Guidelines for Procurement of Goods/Services as criteria. The results of this study indicate that the implementation of probity audit conducted by BPKP Headquarter has been implemented adequately, but there are activities that do not fit the criteria, especially in the activities of the determination of the scope of the audit, the preparation of working papers and the follow-up monitoring of the audit results. Probity audit merupakan kegiatan penilaian (independen) untuk memastikan bahwa proses pengadaan barang/jasa telah dilaksanakan secara konsisten sesuai dengan prinsip penegakan integritas, kebenaran, kejujuran dan memenuhi ketentuan perundangan yang berlaku yang bertujuan meningkatkan akuntabilitas penggunaan dana sektor publik. Probity audit dilakukan secara real time yaitu bersamaan dengan pelaksanaan pengadaan barang/jasa. Penelitian ini bertujuan untuk melakukan evaluasi kesesuaian pelaksanaan probity audit yang dilakukan oleh BPKP Pusat selaku instansi yang menginisiasi pelaksanaan probity audit di Indonesia dibandingkan dengan kriteria berupa Pedoman Probity audit Pengadaan Barang/Jasa Pemerintah. Hasil dari penelitian ini menunjukkan bahwa pelaksanaan probity audit yang dilakukan oleh BPKP Pusat sudah dilaksanakan secara memadai, namun masih terdapat hal yang belum sesuai dengan kriteria terutama dalam kegiatan penentuan ruang lingkup audit, penyusunan kertas kerja dan pemantauan terhadap tindak lanjut hasil audit.

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