On the Direct Kinematics Problem of Parallel Mechanisms

Research output: Journal contributionsJournal articlesResearchpeer-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 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

Recently viewed

Activities

  1. Clustering (Spatial) Relationships to unveil small-scale Schooling Markets
  2. DigiSchreib - A tool to support teachers in the selection and use of digital writing tools
  3. GIS program – Geographischer Informationssyteme
  4. Performance under Climatic Conditions
  5. 13th IFAC and IEEE Conference on Programmable Devices and Embedded Systems - PDeS 2015
  6. 13th IWH-CIREQ Macroeconometric Workshop: Macro-econometrics and Panel Data - IWH-CIREQ 2012
  7. Projektantrag DFG
  8. The Advance of Diagnosis Chatbots: Should We First Avoid Distrust Before We Focus on Trust?
  9. Es geht um
  10. Conference "FICTION AND SIMULATION: Theories, Methods, Practices" - 2015
  11. Ecology & Evolution, Lecture series 2012
  12. Extending Working Lives in Organizations: The Later Life Workplace Index for Successful Management of an Aging Workforce
  13. PEER Workshop, Aalto University, Helsinki
  14. Offizieller Auftakt des BISS-Programms
  15. Authenticity in modelling test items
  16. Building the 5-Dollar-Neuron. A Genealogy of the ›Biological Computer‹ as Research Program and Metaphor (Konferenz "Neural Initiatives: Neuropolitics, Technoscience, and the Dynamic Brain")
  17. The Imaginary Dimension of Fragile Statehood: Syria and the Struggle for the "Rightful" Polity
  18. Video or Text Cases in Problem-Oriented or Direct Instructional Settings for Preservice Teachers?
  19. Towards a sustainable use of indium – Relating technology options and governance interventions for dealing with indium criticality
  20. Automatic Detection and Classification of State Heads and Common People?
  21. Ja­son W. Moo­re in Con­ver­sa­ti­on with Erich Hörl

Publications

  1. Pushing the Envelope: Creating Public Value in the Labor Market
  2. Making mutual learning tangible
  3. How can problems be turned into something good? The role of entrepreneurial learning and error mastery orientation
  4. Theorie des Quantum Computings
  5. Petri net based EMIS-mappers for flexible manufacturing systems
  6. Determination of 10 particle-associated multiclass polar and semi-polar pesticides from small streams using accelerated solvent extraction
  7. Performance concepts and performance theory
  8. Convergence of adaptive learning and expectational stability
  9. Introduction
  10. Analysis of the mechanical properties of an arc-sprayed WC-FeCSiMn coating
  11. Implementing the Kyoto Protocol without Russia
  12. On the role of linguistic features for comprehension and learning from STEM texts. A meta-analysis
  13. Do guided internet-based interventions result in clinically relevant changes for patients with depression?
  14. Optimal dynamic scale and structure of a multi-pollution economy
  15. Individual Scans Fusion in Virtual Knowledge Base for Navigation of Mobile Robotic Group with 3D TVS
  16. How do students and teachers deal with mathematical modelling problems?
  17. In situ synchrotron diffraction of the solidification of Mg4Y3Nd
  18. Hermann Stutte
  19. Different facets of tree sapling diversity influence browsing intensity by deer dependent on spatial scale
  20. An innovative efficiency of incubator to enhance organization supportive business using machine learning approach
  21. Explorations in social spaces
  22. Study of Single Filament Dielectric Barrier Discharge in Argon
  23. It is not what it is
  24. Estimation of minimal data sets sizes for machine learning predictions in digital mental health interventions