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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

Standard

Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform. / Schulz, Stefan; Seibel, Arthur; Schreiber, Daniel et al.
IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1959-1964 8206015 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Schulz, S, Seibel, A, Schreiber, D & Schlattmann, J 2017, Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems., 8206015, IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, Institute of Electrical and Electronics Engineers Inc., pp. 1959-1964, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, British Columbia, Canada, 24.09.17. https://doi.org/10.1109/IROS.2017.8206015

APA

Schulz, S., Seibel, A., Schreiber, D., & Schlattmann, J. (2017). Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1959-1964). Article 8206015 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206015

Vancouver

Schulz S, Seibel A, Schreiber D, Schlattmann J. Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1959-1964. 8206015. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2017.8206015

Bibtex

@inbook{c44d27e59bea4f84b199c61be42f3722,
title = "Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform",
abstract = "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.",
keywords = "Engineering",
author = "Stefan Schulz and Arthur Seibel and Daniel Schreiber and Josef Schlattmann",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems : Friendly People, Friendly Robots, IROS 2017 ; Conference date: 24-09-2017 Through 28-09-2017",
year = "2017",
month = dec,
day = "13",
doi = "10.1109/IROS.2017.8206015",
language = "English",
isbn = "978-1-5386-2683-2",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1959--1964",
booktitle = "IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
url = "https://ewh.ieee.org/conf/iros/2017/iros2017.org/index.html",

}

RIS

TY - CHAP

T1 - Sensor concept for solving the direct kinematics problem of the Stewart-Gough platform

AU - Schulz, Stefan

AU - Seibel, Arthur

AU - Schreiber, Daniel

AU - Schlattmann, Josef

N1 - Publisher Copyright: © 2017 IEEE.

PY - 2017/12/13

Y1 - 2017/12/13

N2 - 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.

AB - 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.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85041949240&partnerID=8YFLogxK

UR - https://www.mendeley.com/catalogue/7d3c3b75-d147-3410-bb7d-882c460d0670/

U2 - 10.1109/IROS.2017.8206015

DO - 10.1109/IROS.2017.8206015

M3 - Article in conference proceedings

AN - SCOPUS:85041949240

SN - 978-1-5386-2683-2

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1959

EP - 1964

BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 24 September 2017 through 28 September 2017

ER -

Other publications by the same author(s)

Reduction of Sintering Distortion in Metal Binder Jetting: Measuring Friction Under Sintering Conditions

Blunk, H. & Seibel, A., 15.03.2025, In: Funtai Oyobi Fummatsu Yakin/Journal of the Japan Society of Powder and Powder Metallurgy. 72, Issue Supplement, p. S1475-S1479 5 p.

Research output: Journal contributions › Journal articles › Research › peer-review

Additive Manufacturing of Soft Robots

Weigand, F. & Seibel, A., 2023, Innovative Product Development by Additive Manufacturing 2021. Lachmayer, R., Bode, B. & Kaierle, S. (eds.). Cham: Springer International Publishing, p. 101-112 12 p.

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

A generalized α-level decomposition concept for numerical fuzzy calculus

Seibel, A. & Schlattmann, J., 10.2015, Proceedings of the 16th World Congress of the International Fuzzy Systems Association (IFSA) and 9th Conference of the European Society for Fuzzy Logic and Technology (EUSFLAT) 2015. Alonso, J. M., Reformat, M. & Bustince, H. (eds.). Atlantis Press, p. 137-140 4 p. (Advances in Intelligent Systems Research; vol. 89).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Aufbau und Organisation von Entwicklungsprojekten

Schlattmann, J. & Seibel, A., 2023, (Accepted/In press) 2. Aufl. ed. Berlin, Heidelberg: Springer Verlag. (Springer Reference Technik)

Research output: Books and anthologies › Book

Automated Design of 3D-Printed Silicone Parts: A Case Study on Hand Rehabilitation Gloves for Stroke Patients

Weigand, F., Föllmer, J. & Seibel, A., 2024, Industrializing Additive Manufacturing: Proceedings of AMPA2023. Klahn, C., Meboldt, M. & Ferchow, J. (eds.). Cham: Springer International Publishing, p. 213-224 12 p. (Springer Tracts in Additive Manufacturing).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

DOI

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