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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 languageEnglish
Title of host publicationAdvances in Robot Kinematics 2018
EditorsJadran Lenarcic, Vincenzo Parenti-Castelli
Number of pages9
PublisherSpringer Science and Business Media B.V.
Publication date2019
Pages56-64
ISBN (print)978-3-319-93187-6
ISBN (electronic)978-3-319-93188-3
DOIs
Publication statusPublished - 2019
Externally publishedYes

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.

    Research areas

  • Direct kinematics problem, Linear actuators’ orientations, Parallel kinematics, Stewart-Gough platform
  • Engineering

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A generalized α-level decomposition concept for numerical fuzzy calculus

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Case study: The development of a multi-material heat sink by Additive Manufacturing using Aerosint technology

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Research output: Journal contributions › Journal articles › Research

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