Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform
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Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform. / Schulz, Stefan; Seibel, Arthur; Schreiber, Daniel et al.
IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. S. 1959-1964 8206015 (IEEE International Conference on Intelligent Robots and Systems; Band 2017-September).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform
AU - Schulz, Stefan
AU - Seibel, Arthur
AU - Schreiber, Daniel
AU - Schlattmann, Josef
N1 - Publisher Copyright: © 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - One of the main tasks in robotics is to precisely connect the robot's coordinate system with the world's coordinate system. For parallel mechanisms, this is a challenging task due to the direct kinematics problem, which is usually solved by using iterative algorithms to search for the mobile platform's position and orientation or by adding auxiliary sensors. In this paper, a sensor concept for solving the direct kinematics problem of the Stewart-Gough platform is presented where only three inertial measurement units are used with the aim to renounce length sensors as well as initial and, in some cases, external pose measurements.
AB - One of the main tasks in robotics is to precisely connect the robot's coordinate system with the world's coordinate system. For parallel mechanisms, this is a challenging task due to the direct kinematics problem, which is usually solved by using iterative algorithms to search for the mobile platform's position and orientation or by adding auxiliary sensors. In this paper, a sensor concept for solving the direct kinematics problem of the Stewart-Gough platform is presented where only three inertial measurement units are used with the aim to renounce length sensors as well as initial and, in some cases, external pose measurements.
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85041949240&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/7d3c3b75-d147-3410-bb7d-882c460d0670/
U2 - 10.1109/IROS.2017.8206015
DO - 10.1109/IROS.2017.8206015
M3 - Article in conference proceedings
AN - SCOPUS:85041949240
SN - 978-1-5386-2683-2
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1959
EP - 1964
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 24 September 2017 through 28 September 2017
ER -