A Sensor Concept for Solving the Direct Kinematics Problem of Parallel Mechanisms

Stefan Schulz (Autor)

Buch | Softcover

166 Seiten

2019
sierke VERLAG - Sierke WWS GmbH
9783965480513 (ISBN)

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The direct kinematics problem is the problem of finding the actual pose of the moveable manipulator platform from the active joints‘ coordinates, for example, the linear actuators‘ lengths. For parallel mechanisms, it cannot be solved unambiguously. By measuring the linear actuators‘ orientations and the orientation of the manipulator platform instead, this problem can be solved analytically, and the actual pose of the manipulator platform can be determined without requiring any linear actuators‘ lengths. As an example, inertial measurement units can be used to obtain the orientation and motion of any body. In this thesis, this approach is applied to the general Stewart-Gough platform and the general planar 3-RPR parallel mechanism, and several formulations for solving the direct kinematics problem are derived. By totally renouncing length measurements and using inertial measurement units for measuring the orientations instead, a comprehensive, compact, and low-cost sensor system can be achieved, which provides an explicit pose of the manipulator platform and is also applicable to other parallel mechanisms.

Erscheinungsdatum	19.09.2019
Sprache	englisch
Maße	1480 x 2100 mm
Gewicht	200 g
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
Themenwelt	Technik ► Maschinenbau
Schlagworte	Analytische Lösung • eindeutige Lösung • Fehlerabschätzung • Hexapode • Inertialsensoren • Kinematik • Linearantrieb • Numerische Lösung • Orientierungen • Parallele Mechanismen • statistische und dynamische Experimente • Vorwärtskinematik
ISBN-13	9783965480513 / 9783965480513
Zustand	Neuware