Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform

Publikationstyp
Conference Paper
Date Issued
2018-12-27
Sprache
English
Author(s)
Schulz, Stefan  
Seibel, Arthur  
Schlattmann, Josef  
Institut
Laser- und Anlagensystemtechnik G-2  
TORE-URI
http://hdl.handle.net/11420/2262
Start Page
5055
End Page
5062
Citation
IEEE International Conference on Intelligent Robots and Systems: 5055-5062 (2018-12-27)
Contribution to Conference
IEEE International Conference on Intelligent Robots and Systems 2018  
Publisher DOI
10.1109/IROS.2018.8594039
Scopus ID
2-s2.0-85063005060
The direct kinematics problem of the Stewart-Gough platform can be solved by measuring the manipulator platform's orientation and two of the linear actuators' orientations instead of the six linear actuators' lengths. In this paper, the effect of measurement errors on the calculated manipulator platform's pose is investigated using the Cramer-Ran lower bound and extensive experiments on a state-of-the-art Stewart-Gough platform. Furthermore, different algorithms and filters for one-time as well as continuous pose determinations are investigated. Finally, possible sensor fusion concepts for the one-time pose determination are presented to increase the robustness against noise and measurement errors.
DDC Class
600: Technology