Paper Info
Title
Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using only Linear Actuators' Orientations.
Abstract
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.
Year
DOI
Venue
2018
10.1007/978-3-319-93188-3_7
Springer Proceedings in Advanced Robotics
Keywords
DocType
Volume
Direct kinematics problem,Parallel kinematics,Stewart-Gough platform,Linear actuators' orientations
Conference
8
ISSN
Citations 
PageRank 
2511-1256
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Stefan Schulz15610.33
Arthur Seibel253.66
josef schlattmann302.37