DC FieldValueLanguage
dc.contributor.authorSchulz, Stefan-
dc.contributor.authorSeibel, Arthur-
dc.contributor.authorSchlattmann, Josef-
dc.date.accessioned2019-04-04T10:31:17Z-
dc.date.available2019-04-04T10:31:17Z-
dc.date.issued2018-09-10-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation: 968-973 (2018-09-10)de_DE
dc.identifier.isbn978-153863081-5de_DE
dc.identifier.issn1050-4729de_DE
dc.identifier.urihttp://hdl.handle.net/11420/2265-
dc.description.abstractIn general, it is not possible to determine the actual manipulator platform's pose of a parallel mechanism from its active joints' coordinates. This problem is usually solved by using additional numerical procedures or by additional system information from auxiliary sensors, providing several weaknesses including initial pose estimations, reference drives, or workspace limitations. In this paper, we therefore introduce a closed-form solution for the direct kinematics problem of the planar 3-RPR parallel mechanism by using only the orientations of two active joints and the manipulator platform, where P denotes active prismatic joints and R passive revolute joints.en
dc.language.isoende_DE
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationde_DE
dc.titleClosed-form Solution for the Direct Kinematics Problem of the Planar 3-RPR Parallel Mechanismde_DE
dc.typeinProceedingsde_DE
dc.type.dinicontributionToPeriodical-
dcterms.DCMITypeText-
tuhh.abstract.englishIn general, it is not possible to determine the actual manipulator platform's pose of a parallel mechanism from its active joints' coordinates. This problem is usually solved by using additional numerical procedures or by additional system information from auxiliary sensors, providing several weaknesses including initial pose estimations, reference drives, or workspace limitations. In this paper, we therefore introduce a closed-form solution for the direct kinematics problem of the planar 3-RPR parallel mechanism by using only the orientations of two active joints and the manipulator platform, where P denotes active prismatic joints and R passive revolute joints.de_DE
tuhh.publisher.doi10.1109/ICRA.2018.8460544-
tuhh.publication.instituteLaser- und Anlagensystemtechnik G-2de_DE
tuhh.type.opusInProceedings (Aufsatz / Paper einer Konferenz etc.)-
tuhh.institute.germanLaser- und Anlagensystemtechnik G-2de
tuhh.institute.englishLaser- und Anlagensystemtechnik G-2de_DE
tuhh.gvk.hasppnfalse-
dc.type.drivercontributionToPeriodical-
dc.type.casraiConference Paper-
tuhh.container.startpage968de_DE
tuhh.container.endpage973de_DE
item.languageiso639-1en-
item.fulltextNo Fulltext-
item.openairetypeinProceedings-
item.grantfulltextnone-
item.creatorOrcidSchulz, Stefan-
item.creatorOrcidSeibel, Arthur-
item.creatorOrcidSchlattmann, Josef-
item.openairecristypehttp://purl.org/coar/resource_type/c_5794-
item.creatorGNDSchulz, Stefan-
item.creatorGNDSeibel, Arthur-
item.creatorGNDSchlattmann, Josef-
item.cerifentitytypePublications-
crisitem.author.deptLaser- und Anlagensystemtechnik G-2-
crisitem.author.deptLaser- und Anlagensystemtechnik G-2-
crisitem.author.deptLaser- und Anlagensystemtechnik G-2-
crisitem.author.orcid0000-0002-6634-4004-
crisitem.author.orcid0000-0003-3989-9626-
crisitem.author.orcid0000-0002-1507-2985-
crisitem.author.parentorgStudiendekanat Gewerblich-Technische Wissenschaften-
crisitem.author.parentorgStudiendekanat Gewerblich-Technische Wissenschaften-
crisitem.author.parentorgStudiendekanat Gewerblich-Technische Wissenschaften-
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