Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using only Linear Actuators’ Orientations

Publikationstyp
Conference Paper
Date Issued
2018
Sprache
English
Author(s)
Schulz, Stefan  
Seibel, Arthur  
Schlattmann, Josef  
Institut
Laser- und Anlagensystemtechnik G-2  
TORE-URI
http://hdl.handle.net/11420/9731
Journal
Springer proceedings in advanced robotics  
Volume
8
Start Page
56
End Page
64
Citation
International Symposium on Advances in Robot Kinematics (ARK 2018)
Contribution to Conference
International Symposium on Advances in Robot Kinematics, ARK 2018  
Publisher DOI
10.1007/978-3-319-93188-3_7
Scopus ID
2-s2.0-85107070629
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.
Subjects
Direct kinematics problem
Linear actuators’ orientations
Parallel kinematics
Stewart-Gough platform