@article{903.70006,
title = {Robust estimator design for forward kinematics solution of a {Stewart}
platform. },
author = {Ji-Yoon Kang and Dong Hwan Kim and Kyo-Il Lee},
journal = {J. Rob. Syst.},
number = {1},
pages = {29-42},
volume = {15},
year = {1998},
description = {robotica-bib},
abstract = {We propose a robust estimator design to solve the forward kinematics
in 6 DOF motion bed (Stewart platform). The stability of the proposed
estimator is proved via Lyapunov stability analysis, and the estimator
guarantees practical stability. We introduce the estimator design
algorithm which tackles the nonlinearity and uncertainty in the system,
and present methods to select estimator gain. A cone-bound condition
imposed on the error dynamics is discussed and adopted to prove the
stability of the estimator. },
language = {English}, classmath = {*70B15 Mechanisms},
keywords = {Lyapunov analysis; condition; cone-bound dynamics error nonlinearity; stability uncertainty; }
}
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