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

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Standard

Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform. / Schulz, Stefan; Seibel, Arthur; Schlattmann, Josef.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. S. 5055-5062 8594039 (IEEE International Conference on Intelligent Robots and Systems).

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Harvard

Schulz, S, Seibel, A & Schlattmann, J 2018, Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594039, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., S. 5055-5062, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spanien, 01.10.18. https://doi.org/10.1109/IROS.2018.8594039

APA

Schulz, S., Seibel, A., & Schlattmann, J. (2018). Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (S. 5055-5062). Artikel 8594039 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594039

Vancouver

Schulz S, Seibel A, Schlattmann J. Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. S. 5055-5062. 8594039. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2018.8594039

Bibtex

@inbook{7d263bd51a81463abc48ec97c5e0b173,
title = "Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform",
abstract = "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.",
keywords = "Engineering",
author = "Stefan Schulz and Arthur Seibel and Josef Schlattmann",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 : Towards a Robotic Society, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",
year = "2018",
month = dec,
day = "27",
doi = "10.1109/IROS.2018.8594039",
language = "English",
isbn = "978-1-5386-8093-3",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5055--5062",
booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018",
address = "United States",
url = "https://www.iros2018.org/, https://www.iros2018.org/organizing-committee",

}

RIS

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T1 - Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform

AU - Schulz, Stefan

AU - Seibel, Arthur

AU - Schlattmann, Josef

N1 - Publisher Copyright: © 2018 IEEE.

PY - 2018/12/27

Y1 - 2018/12/27

N2 - 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.

AB - 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.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85063005060&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/8d03bae9-7935-3b00-aa06-19e361e61c36/

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DO - 10.1109/IROS.2018.8594039

M3 - Article in conference proceedings

AN - SCOPUS:85063005060

SN - 978-1-5386-8093-3

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 5055

EP - 5062

BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

Y2 - 1 October 2018 through 5 October 2018

ER -

DOI