TY - JOUR

T1 - On the Direct Kinematics Problem of Parallel Mechanisms

AU - Seibel, Arthur

AU - Schulz, Stefan

AU - Schlattmann, Josef

N1 - 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.

PY - 2018/1/1

Y1 - 2018/1/1

N2 - 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.

AB - 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.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85045040010&partnerID=8YFLogxK

U2 - 10.1155/2018/2412608

DO - 10.1155/2018/2412608

M3 - Journal articles

AN - SCOPUS:85045040010

VL - 2018

JO - Journal of Robotics

JF - Journal of Robotics

SN - 1687-9600

M1 - 2412608

ER -