|Publisher DOI:||10.1007/978-3-319-93188-3_7||Title:||Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using only Linear Actuators’ Orientations||Language:||English||Authors:||Schulz, Stefan
|Keywords:||Direct kinematics problem;Linear actuators’ orientations;Parallel kinematics;Stewart-Gough platform||Issue Date:||2018||Source:||International Symposium on Advances in Robot Kinematics (ARK 2018)||Journal:||Springer Proceedings in Advanced Robotics||Abstract (english):||
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.
|Conference:||International Symposium on Advances in Robot Kinematics, ARK 2018||URI:||http://hdl.handle.net/11420/9731||Institute:||Laser- und Anlagensystemtechnik G-2||Document Type:||Chapter/Article (Proceedings)|
|Appears in Collections:||Publications without fulltext|
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