Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Standard

Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations. / Schulz, Stefan; Seibel, Arthur; Schlattmann, Josef.
Advances in Robot Kinematics 2018 . ed. / Jadran Lenarcic; Vincenzo Parenti-Castelli. Springer Science and Business Media B.V., 2019. p. 56-64 (Springer Proceedings in Advanced Robotics; Vol. 8).

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Harvard

Schulz, S, Seibel, A & Schlattmann, J 2019, Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations. in J Lenarcic & V Parenti-Castelli (eds), Advances in Robot Kinematics 2018 . Springer Proceedings in Advanced Robotics, vol. 8, Springer Science and Business Media B.V., pp. 56-64. https://doi.org/10.1007/978-3-319-93188-3_7

APA

Schulz, S., Seibel, A., & Schlattmann, J. (2019). Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations. In J. Lenarcic, & V. Parenti-Castelli (Eds.), Advances in Robot Kinematics 2018 (pp. 56-64). (Springer Proceedings in Advanced Robotics; Vol. 8). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-3-319-93188-3_7

Vancouver

Schulz S, Seibel A, Schlattmann J. Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations. In Lenarcic J, Parenti-Castelli V, editors, Advances in Robot Kinematics 2018 . Springer Science and Business Media B.V. 2019. p. 56-64. (Springer Proceedings in Advanced Robotics). doi: 10.1007/978-3-319-93188-3_7

Bibtex

@inbook{5aadd606567b4ee9870033519bf4dd9b,
title = "Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators{\textquoteright} orientations",
abstract = "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{\textquoteright}s pose. In this context, we investigate the solution{\textquoteright}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.",
keywords = "Direct kinematics problem, Linear actuators{\textquoteright} orientations, Parallel kinematics, Stewart-Gough platform, Engineering",
author = "Stefan Schulz and Arthur Seibel and Josef Schlattmann",
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: {\textcopyright} 2019, Springer International Publishing AG, part of Springer Nature.",
year = "2019",
doi = "10.1007/978-3-319-93188-3_7",
language = "English",
isbn = "978-3-319-93187-6",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer Science and Business Media B.V.",
pages = "56--64",
editor = "Jadran Lenarcic and Vincenzo Parenti-Castelli",
booktitle = "Advances in Robot Kinematics 2018",
address = "Germany",

}

RIS

TY - CHAP

T1 - Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations

AU - Schulz, Stefan

AU - Seibel, Arthur

AU - Schlattmann, Josef

N1 - 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.

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

KW - Direct kinematics problem

KW - Linear actuators’ orientations

KW - Parallel kinematics

KW - Stewart-Gough platform

KW - Engineering

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UR - https://www.mendeley.com/catalogue/46ddeabe-dce5-33d2-96e4-d61e8aa20ade/

U2 - 10.1007/978-3-319-93188-3_7

DO - 10.1007/978-3-319-93188-3_7

M3 - Article in conference proceedings

AN - SCOPUS:85107070629

SN - 978-3-319-93187-6

T3 - Springer Proceedings in Advanced Robotics

SP - 56

EP - 64

BT - Advances in Robot Kinematics 2018

A2 - Lenarcic, Jadran

A2 - Parenti-Castelli, Vincenzo

PB - Springer Science and Business Media B.V.

ER -