On the Direct Kinematics Problem of Parallel Mechanisms

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Authors

The direct kinematics problem of parallel mechanisms, that is, determining the pose of the manipulator platform from the linear actuators' lengths, is, in general, uniquely not solvable. For this reason, instead of measuring the lengths of the linear actuators, we propose measuring their orientations and, in most cases, also the orientation of the manipulator platform. This allows the design of a low-cost sensor system for parallel mechanisms that completely renounces length measurements and provides a unique solution of their direct kinematics.

OriginalspracheEnglisch
Aufsatznummer2412608
ZeitschriftJournal of Robotics
Jahrgang2018
Anzahl der Seiten10
ISSN1687-9600
DOIs
PublikationsstatusErschienen - 01.01.2018
Extern publiziertJa

Bibliographische Notiz

Publisher Copyright:
© 2018 Arthur Seibel et al.

DOI

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