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.
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Acknowledgements
This work was partly supported by the German Research Foundation (DFG) under grant SCHL 275/15-1 and the German Federal Ministry for Economic Affairs and Energy under grant 03THW02G04.
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Schulz, S., Seibel, A., Schlattmann, J. (2019). Solution for the Direct Kinematics Problem of the General Stewart-Gough Platform by Using only Linear Actuators’ Orientations. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_7
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DOI: https://doi.org/10.1007/978-3-319-93188-3_7
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