On the Direct Kinematics Problem of Parallel Mechanisms
Research output: Journal contributions › Journal articles › Research › peer-review
Authors
The direct kinematics problem of parallel mechanisms, that is, determining the pose of the manipulator platform from the linear actuators' lengths, is, in general, uniquely not solvable. For this reason, instead of measuring the lengths of the linear actuators, we propose measuring their orientations and, in most cases, also the orientation of the manipulator platform. This allows the design of a low-cost sensor system for parallel mechanisms that completely renounces length measurements and provides a unique solution of their direct kinematics.
| Original language | English |
|---|---|
| Article number | 2412608 |
| Journal | Journal of Robotics |
| Volume | 2018 |
| Number of pages | 10 |
| ISSN | 1687-9600 |
| DOIs | |
| Publication status | Published - 01.01.2018 |
| Externally published | Yes |
Bibliographical note
Funding Information:
This work was supported by the German Research Foundation (DFG) (Grant SCHL 275/15-1). The publication of this work was also supported by the DFG and Hamburg University of Technology (TUHH) in the funding programme “Open Access Publishing.”
Publisher Copyright:
© 2018 Arthur Seibel et al.
- Computer Science(all)
- Control and Systems Engineering
ASJC Scopus Subject Areas
- Engineering