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.
CITATION STYLE
Schulz, S., Seibel, A., & Schlattmann, J. (2018). Solution for the direct kinematics problem of the general stewart-gough platform by using only linear actuators’ orientations. In ARK 2018 - 16th International Symposium on Advances in Robot Kinematics (pp. 56–64). Springer. https://doi.org/10.1007/978-3-319-93188-3_7
Mendeley helps you to discover research relevant for your work.