2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
DOI: 10.1109/iros.2004.1389959
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Passive joint-sensor applications for parallel robots

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Cited by 7 publications
(8 citation statements)
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“…This linear least-squares problem can be reduced to the set of linear equations (27) with the unique solution…”
Section: Closed-form Solution By Measuring the Linear Actuators' Oriementioning
confidence: 99%
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“…This linear least-squares problem can be reduced to the set of linear equations (27) with the unique solution…”
Section: Closed-form Solution By Measuring the Linear Actuators' Oriementioning
confidence: 99%
“…In contrast, the second approach consists of adding extra sensors for obtaining additional information about the parallel mechanism's state [21][22][23][24][25][26][27][28]. These can be, for example, angular sensors that are placed on the base or the manipulator platform joints or linear and/or angular sensors that are placed on supplementary passive legs.…”
Section: Introductionmentioning
confidence: 99%
“…Taking full advantage of the structural capabilities of parallel kinematics demands additional machine-oriented control tasks, e.g., self-calibration, real-time workspace monitoring and exception handling. For simplifying the corresponding algorithms, position sensors, ideally contactless working, are integrated in the structural components (Hesselbach et al 2005;Boese et al 2009). The measured data leads to the analytical solution of direct and inverse kinematic models for realizing the required control-tasks.…”
Section: Introductionmentioning
confidence: 99%
“…Details about the HEXA-robot have been discussed in Hesselbach et al 2005;Kirchhoff et al 2009b). The magnet is fixed on the joint shaft and rotates its magnetic direction during robot movement.…”
Section: Introductionmentioning
confidence: 99%
“…Promising strategies to overcome the disadvantages of parallel kinematics are adaptive rods and joints for suppressing vibrations within the structure as well as angular position sensors integrated into passive joints for detecting the angle between the kinematic elements. This approach allows the fast analytical solution of direct kinematics for real-time workspace monitoring, self-calibration and exception handling tasks [6,7]. Angular position sensors intended for the described application have to fulfill challenging demands.…”
Section: Introductionmentioning
confidence: 99%