On the Direct Kinematics Problem of Parallel Mechanisms
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 orientation...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/2412608 |
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| _version_ | 1832545503424806912 |
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| author | Arthur Seibel Stefan Schulz Josef Schlattmann |
| author_facet | Arthur Seibel Stefan Schulz Josef Schlattmann |
| author_sort | Arthur Seibel |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-48fbf398bcfb44f19cb9c07c77d91e43 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-48fbf398bcfb44f19cb9c07c77d91e432025-02-03T07:25:39ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/24126082412608On the Direct Kinematics Problem of Parallel MechanismsArthur Seibel0Stefan Schulz1Josef Schlattmann2Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, GermanyWorkgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, GermanyWorkgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, GermanyThe 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.http://dx.doi.org/10.1155/2018/2412608 |
| spellingShingle | Arthur Seibel Stefan Schulz Josef Schlattmann On the Direct Kinematics Problem of Parallel Mechanisms Journal of Robotics |
| title | On the Direct Kinematics Problem of Parallel Mechanisms |
| title_full | On the Direct Kinematics Problem of Parallel Mechanisms |
| title_fullStr | On the Direct Kinematics Problem of Parallel Mechanisms |
| title_full_unstemmed | On the Direct Kinematics Problem of Parallel Mechanisms |
| title_short | On the Direct Kinematics Problem of Parallel Mechanisms |
| title_sort | on the direct kinematics problem of parallel mechanisms |
| url | http://dx.doi.org/10.1155/2018/2412608 |
| work_keys_str_mv | AT arthurseibel onthedirectkinematicsproblemofparallelmechanisms AT stefanschulz onthedirectkinematicsproblemofparallelmechanisms AT josefschlattmann onthedirectkinematicsproblemofparallelmechanisms |