Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
In this paper, we present a solution for the direct kinematics problem of the general Stewart-Gough platform where only the orientations of the linear actuators are measured with accelerometer sensors. By using an extended Kalman filter with the inverse kinematics equations, we can uniquely determine the manipulator platform’s pose. In this context, we investigate the solution’s accuracy and derive the minimum number of iterations under static conditions and validate our concept with experiments on a state-of-the-art Stewart-Gough platform.
| Original language | English |
|---|---|
| Title of host publication | Advances in Robot Kinematics 2018 |
| Editors | Jadran Lenarcic, Vincenzo Parenti-Castelli |
| Number of pages | 9 |
| Publisher | Springer Science and Business Media B.V. |
| Publication date | 2019 |
| Pages | 56-64 |
| ISBN (print) | 978-3-319-93187-6 |
| ISBN (electronic) | 978-3-319-93188-3 |
| DOIs | |
| Publication status | Published - 2019 |
| Externally published | Yes |
Bibliographical note
Funding Information:
Acknowledgements. This work was partly supported by the German Research Foundation (DFG) under grant SCHL 275/15-1 and the German Federal Ministry for Economic Affairs and Energy under grant 03THW02G04.
Publisher Copyright:
© 2019, Springer International Publishing AG, part of Springer Nature.
- Direct kinematics problem, Linear actuators’ orientations, Parallel kinematics, Stewart-Gough platform
- Engineering