Rotations as Double Reflections and Geometrical Derivation of Euler-Rodrigues Parameters

Soijer, Marco W.

doi:10.2514/1.38581

Cited by 1 publication

(1 citation statement)

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“…T ba is the transformation matrix that describes the transformation a a i → a b i and therefore Equation (1) depends on the attitude of frame E a with respect to E b . Here, attitude is represented using the Euler-Rodrigues quaternion formulation [50,51] for numerical efficiency. As such, the attitude vector is: Φ = e 0 ex ey ez (3) and the transformation matrices T ab and T ba can subsequently be defined as [50]:…”

Section: Stewart Platform Kinematicsmentioning

confidence: 99%

Improved Stewart platform state estimation using inertial and actuator position measurements

Miletović

Pool

Stroosma

et al. 2017

Control Engineering Practice

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Accurate and reliable estimation of the kinematic state of a six degrees-of-freedom Stewart platform is a problem of interest in various engineering disciplines. Particularly so in the area of flight simulation, where the Stewart platform is in widespread use for the generation of motion similar to that experienced in actual flight. Accurate measurements of Stewart platform kinematic states are crucial for the application of advanced motion control algorithms and are highly valued in quantitative assessments of simulator motion fidelity. In the current work, a novel method for the reconstruction of the kinematic state of a Stewart platform is proposed. This method relies on an Unscented Kalman Filter (UKF) for a tight coupling of on-platform inertial sensors with measurements of the six actuator positions. The proposed algorithm is shown to be superior to conventional iterative methods in two main areas. First, more accurate estimates of motion platform velocity are obtained and, second, the algorithm is robust to inherent measurement uncertainties like noise and bias. The results were validated on the SIMONA Research Simulator (SRS) at TU Delft. To this end, an efficient implementation of the algorithm was driven, in real time, by actual sensor measurements from two representative motion profiles.

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Section: Stewart Platform Kinematicsmentioning

confidence: 99%