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 April 23, 2024)
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Configuration Estimation of Gough-Stewart Platforms Using Extended Kalman Filtering
Published
Author(s)
E D. Fasse,
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
Pub Type
Conferences
Download Paper
Keywords
Control, Robot Crane, configuration estimation, kalman filter, parallel mechanism, sensor fusion
Citation
Created August 31, 2000, Updated October 12, 2021