Publisher DOI: 10.1109/IROS.2018.8594039
Title: Performance of an IMU-Based Sensor Concept for Solving the Direct Kinematics Problem of the Stewart-Gough Platform
Language: English
Authors: Schulz, Stefan 
Seibel, Arthur 
Schlattmann, Josef 
Issue Date: 27-Dec-2018
Source: IEEE International Conference on Intelligent Robots and Systems (): 5055-5062 (2018-12-27)
Journal or Series Name: IEEE International Conference on Intelligent Robots and Systems 
Abstract (english): 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. © 2018 IEEE.
ISBN: 978-153868094-0
ISSN: 2153-0858
Institute: Laser- und Anlagensystemtechnik G-2 
Type: InProceedings (Aufsatz / Paper einer Konferenz etc.)
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