On the Direct Kinematics Problem of Parallel Mechanisms

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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 languageEnglish
Article number2412608
JournalJournal of Robotics
Volume2018
Number of pages10
ISSN1687-9600
DOIs
Publication statusPublished - 01.01.2018
Externally publishedYes

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.

DOI

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