Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

In this paper, we present a solution for the direct kinematics problem of the general Stewart-Gough platform where only the orientations of the linear actuators are measured with accelerometer sensors. By using an extended Kalman filter with the inverse kinematics equations, we can uniquely determine the manipulator platform’s pose. In this context, we investigate the solution’s accuracy and derive the minimum number of iterations under static conditions and validate our concept with experiments on a state-of-the-art Stewart-Gough platform.

OriginalspracheEnglisch
TitelAdvances in Robot Kinematics 2018
HerausgeberJadran Lenarcic, Vincenzo Parenti-Castelli
Anzahl der Seiten9
VerlagSpringer Science and Business Media B.V.
Erscheinungsdatum2019
Seiten56-64
ISBN (Print)978-3-319-93187-6
ISBN (elektronisch)978-3-319-93188-3
DOIs
PublikationsstatusErschienen - 2019
Extern publiziertJa

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Publisher Copyright:
© 2019, Springer International Publishing AG, part of Springer Nature.

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