Schulz, StefanStefanSchulzSeibel, ArthurArthurSeibelSchlattmann, JosefJosefSchlattmann2021-06-112021-06-112018International Symposium on Advances in Robot Kinematics (ARK 2018)http://hdl.handle.net/11420/9731In 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.en2511-125620185664Direct kinematics problemLinear actuators’ orientationsParallel kinematicsStewart-Gough platformConference Paper10.1007/978-3-319-93188-3_7Other