Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

The direct kinematics problem of the Stewart-Gough platform can be solved by measuring the manipulator platform's orientation and two of the linear actuators' orientations instead of the six linear actuators' lengths. In this paper, the effect of measurement errors on the calculated manipulator platform's pose is investigated using the Cramer-Ran lower bound and extensive experiments on a state-of-the-art Stewart-Gough platform. Furthermore, different algorithms and filters for one-time as well as continuous pose determinations are investigated. Finally, possible sensor fusion concepts for the one-time pose determination are presented to increase the robustness against noise and measurement errors.

OriginalspracheEnglisch
Titel2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Anzahl der Seiten8
VerlagInstitute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum27.12.2018
Seiten5055-5062
Aufsatznummer8594039
ISBN (Print)978-1-5386-8093-3
ISBN (elektronisch)978-1-5386-8094-0, 978-1-5386-8095-7
DOIs
PublikationsstatusErschienen - 27.12.2018
Extern publiziertJa
Veranstaltung2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018: Towards a Robotic Society - Universidad Carlos III de Madrid, Madrid, Spanien
Dauer: 01.10.201805.10.2018
https://www.iros2018.org/
https://www.iros2018.org/organizing-committee

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© 2018 IEEE.

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