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 
Seibel, Arthur 
Schlattmann, Josef 
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 
Institute: Laser- und Anlagensystemtechnik G-2 
Document Type: Chapter/Article (Proceedings)
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