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

Publikationstyp
Conference Paper
Publikationsdatum
2017-12-13
Sprache
English
Author
Schulz, Stefan 
Seibel, Arthur 
Schreiber, Daniel 
Schlattmann, Josef 
Institut
Laser- und Anlagensystemtechnik G-2 
TORE-URI
http://hdl.handle.net/11420/3568
Volume
2017
Start Page
1959
End Page
1964
Article Number
8206015
Citation
IEEE International Conference on Intelligent Robots and Systems (2017-September): 8206015, 1959-1964 (2017-12-13)
Contribution to Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 
Publisher DOI
10.1109/IROS.2017.8206015
Scopus ID
2-s2.0-85041949240
Publisher
IEEE
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.
DDC Class
600: Technik