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On Using Inertial Measurement Units for Solving the Direct Kinematics Problem of Parallel Mechanisms

Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, Germany
Robotics 2019, 8(4), 99; https://doi.org/10.3390/robotics8040099
Received: 22 October 2019 / Revised: 14 November 2019 / Accepted: 27 November 2019 / Published: 29 November 2019
In this paper, we investigate the accuracy and the computational efficiency of an IMU-based approach for solving the direct kinematics problem of parallel mechanisms with length-variable linear actuators under dynamic conditions. By avoiding to measure the linear actuators’ lengths and by using orientations instead, a comprehensive, low-cost sensor structure can be obtained that provides a unique solution for the direct kinematics problem. As a representative example, we apply our approach to the planar 3-RPR parallel mechanism, where P denotes active prismatic joints and R denotes passive revolute joints, and investigate the achievable accuracy and robustness on a specially designed experimental device. In this context, we also investigate the effect of sensor fusion on the achievable accuracy and compare our results with those obtained from linear actuators’ lengths when the Newton-Raphson algorithm is used to compute the manipulator platform’s pose iteratively. Finally, we discuss the applicability of inertial measurement units (IMUs) for solving the direct kinematics problem of parallel mechanisms. View Full-Text
Keywords: direct kinematics problem; parallel robots; linear actuators’ orientations; planar 3-RPR parallel mechanism; inertial measurement units; sensor fusion; Newton-Raphson algorithm; Moore-Penrose generalized inverse; static and dynamic experiments; Arduino direct kinematics problem; parallel robots; linear actuators’ orientations; planar 3-RPR parallel mechanism; inertial measurement units; sensor fusion; Newton-Raphson algorithm; Moore-Penrose generalized inverse; static and dynamic experiments; Arduino
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MDPI and ACS Style

Schulz, S. On Using Inertial Measurement Units for Solving the Direct Kinematics Problem of Parallel Mechanisms. Robotics 2019, 8, 99.

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