Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
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 language | English |
|---|---|
| Title of host publication | IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Number of pages | 6 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Publication date | 13.12.2017 |
| Pages | 1959-1964 |
| Article number | 8206015 |
| ISBN (print) | 978-1-5386-2683-2 |
| ISBN (electronic) | 978-1-5386-2682-5, 978-1-5386-2681-8 |
| DOIs | |
| Publication status | Published - 13.12.2017 |
| Externally published | Yes |
| Event | 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems: Friendly People, Friendly Robots - Vancouver, Canada Duration: 24.09.2017 → 28.09.2017 https://ewh.ieee.org/conf/iros/2017/iros2017.org/index.html |
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