Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform
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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 Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
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/
U2 - 10.1109/IROS.2018.8594039
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 -