Skip to main content
U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

Configuration Estimation of Gough-Stewart Platforms Using Extended Kalman Filtering

Published

Author(s)

E D. Fasse, Albert J. Wavering

Abstract

This paper develops extended Kalman filtering algorithms for a generic Gough-Stewart platform assuming realistically available sensors such as length sensors, rate gyroscopes, and accelerometers. The basic idea is to extend existing methods for satellite attitude estimation. The nondeterministic methods are meant to be a practical alternative to existing iterative, deterministic methods for real-time estimation of platform configuration.
Proceedings Title
Proc. of the DETC''00 ASME 2000 Design Engineering Technical Conference & Computers & Information in Engineering Conference
Conference Dates
September 10-13, 2000
Conference Location
Baltimore, MD, USA
Conference Title
DETC''00 ASME 2000 Design Engineering Technical Conference & Computers & Information in Engineering Conference

Keywords

Control, Robot Crane, configuration estimation, kalman filter, parallel mechanism, sensor fusion

Citation

Fasse, E. and Wavering, A. (2000), Configuration Estimation of Gough-Stewart Platforms Using Extended Kalman Filtering, Proc. of the DETC''00 ASME 2000 Design Engineering Technical Conference & Computers & Information in Engineering Conference, Baltimore, MD, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820664 (Accessed May 27, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created August 31, 2000, Updated October 12, 2021