On the direct kinematics problem of parallel mechanisms

Journal
Journal of robotics  
Volume
Volume 2018
Start Page
Article ID 2412608
End Page
9 Seiten
Citation
Arthur Seibel, Stefan Schulz, and Josef Schlattmann, “On the Direct Kinematics Problem of Parallel Mechanisms,” Journal of Robotics, vol. 2018, Article ID 2412608, 9 pages, 2018. doi:10.1155/2018/2412608
Publisher DOI
10.1155/2018/2412608
Scopus ID
2-s2.0-85045040010
Publisher
Hindawi Publishing Corporation
The direct kinematics problem of parallel mechanisms, that is, determining the pose of the manipulator platform from the linear actuators’ lengths, is, in general, uniquely not solvable. For this reason, instead of measuring the lengths of the linear actuators, we propose measuring their orientations and, in most cases, also the orientation of the manipulator platform. This allows the design of a low-cost sensor system for parallel mechanisms that completely renounces length measurements and provides a unique solution of their direct kinematics.
Subjects
kinematics problem
DDC Class
620: Ingenieurwissenschaften
Lizenz
https://creativecommons.org/licenses/by/4.0/
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