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Publisher DOI: 10.1155/2018/2412608
Title: On the direct kinematics problem of parallel mechanisms
Language: English
Authors: Seibel, Arthur 
Schulz, Stefan 
Schlattmann, Josef 
Keywords: kinematics problem
Issue Date: 12-Mar-2018
Publisher: Hindawi Publishing Corporation
Source: Arthur Seibel, Stefan Schulz, and Josef Schlattmann, “On the Direct Kinematics Problem of Parallel Mechanisms,” Journal of Robotics, vol. 2018, Article ID 2412608, 9 pages, 2018. doi:10.1155/2018/2412608
Journal or Series Name: Journal of robotics 
Abstract (english): The direct kinematics problem of parallel mechanisms, that is, determining the pose of the manipulator platform from the linear actuators’ lengths, is, in general, uniquely not solvable. For this reason, instead of measuring the lengths of the linear actuators, we propose measuring their orientations and, in most cases, also the orientation of the manipulator platform. This allows the design of a low-cost sensor system for parallel mechanisms that completely renounces length measurements and provides a unique solution of their direct kinematics.
DOI: 10.15480/882.1639
ISSN: 1687-9619
Institute: Laser- und Anlagensystemtechnik G-2 
Type: (wissenschaftlicher) Artikel
Project: Open Access Publizieren 2018 - 2019 / TU Hamburg 
Appears in Collections:Publications (tub.dok)

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