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On using inertial measurement units for solving the direct kinematics problem of parallel mechanisms
Citation Link: https://doi.org/10.15480/882.2536
Publikationstyp
Journal Article
Date Issued
2019-11-29
Sprache
English
Author(s)
Institut
TORE-DOI
TORE-URI
Journal
Volume
8
Issue
4
Article Number
99
Citation
Robotics 8 (4): 99 (2019)
Publisher DOI
Scopus ID
Publisher
Multidisciplinary Digital Publishing Institute
In this paper, we investigate the accuracy and the computational efficiency of an IMU-based approach for solving the direct kinematics problem of parallel mechanisms with length-variable linear actuators under dynamic conditions. By avoiding to measure the linear actuators’ lengths and by using orientations instead, a comprehensive, low-cost sensor structure can be obtained that provides a unique solution for the direct kinematics problem. As a representative example, we apply our approach to the planar 3-RPR parallel mechanism, where P denotes active prismatic joints and R denotes passive revolute joints, and investigate the achievable accuracy and robustness on a specially designed experimental device. In this context, we also investigate the effect of sensor fusion on the achievable accuracy and compare our results with those obtained from linear actuators’ lengths when the Newton-Raphson algorithm is used to compute the manipulator platform’s pose iteratively. Finally, we discuss the applicability of inertial measurement units (IMUs) for solving the direct kinematics problem of parallel mechanisms.
DDC Class
004: Informatik
600: Technik
620: Ingenieurwissenschaften
More Funding Information
Deutsche Forschungsgemeinschaft (DFG)
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robotics-08-00099.pdf
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3.47 MB
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