Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform

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One of the main tasks in robotics is to precisely connect the robot's coordinate system with the world's coordinate system. For parallel mechanisms, this is a challenging task due to the direct kinematics problem, which is usually solved by using iterative algorithms to search for the mobile platform's position and orientation or by adding auxiliary sensors. In this paper, a sensor concept for solving the direct kinematics problem of the Stewart-Gough platform is presented where only three inertial measurement units are used with the aim to renounce length sensors as well as initial and, in some cases, external pose measurements.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages6
PublisherInstitute of Electrical and Electronics Engineers Inc.
Publication date13.12.2017
Pages1959-1964
Article number8206015
ISBN (print)978-1-5386-2683-2
ISBN (electronic)978-1-5386-2682-5, 978-1-5386-2681-8
DOIs
Publication statusPublished - 13.12.2017
Externally publishedYes
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems: Friendly People, Friendly Robots - Vancouver, Canada
Duration: 24.09.201728.09.2017
https://ewh.ieee.org/conf/iros/2017/iros2017.org/index.html

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