Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations
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Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations. / Schulz, Stefan; Seibel, Arthur; Schlattmann, Josef.
Advances in Robot Kinematics 2018 . Hrsg. / Jadran Lenarcic; Vincenzo Parenti-Castelli. Springer Science and Business Media B.V., 2019. S. 56-64 (Springer Proceedings in Advanced Robotics; Band 8).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations
AU - Schulz, Stefan
AU - Seibel, Arthur
AU - Schlattmann, Josef
N1 - Funding Information: Acknowledgements. This work was partly supported by the German Research Foundation (DFG) under grant SCHL 275/15-1 and the German Federal Ministry for Economic Affairs and Energy under grant 03THW02G04. Publisher Copyright: © 2019, Springer International Publishing AG, part of Springer Nature.
PY - 2019
Y1 - 2019
N2 - 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.
AB - 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.
KW - Direct kinematics problem
KW - Linear actuators’ orientations
KW - Parallel kinematics
KW - Stewart-Gough platform
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85107070629&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/46ddeabe-dce5-33d2-96e4-d61e8aa20ade/
U2 - 10.1007/978-3-319-93188-3_7
DO - 10.1007/978-3-319-93188-3_7
M3 - Article in conference proceedings
AN - SCOPUS:85107070629
SN - 978-3-319-93187-6
T3 - Springer Proceedings in Advanced Robotics
SP - 56
EP - 64
BT - Advances in Robot Kinematics 2018
A2 - Lenarcic, Jadran
A2 - Parenti-Castelli, Vincenzo
PB - Springer Science and Business Media B.V.
ER -