Evaluating sensor configurations for the Extended CTC approach based on sensitivity analysis

Abstract

In order to fully exploit the potential of parallel robots advanced control approaches like the Extended CTC approach are required. This approach combines the performance of traditional CTC approaches with the robustness of sensor redundancy. However, to ensure the best performance, a proper sensor configuration has to be implemented. In this paper, a sensitivity analysis based methodology is introduced and used to determine the best sensor configurations in the Gough platform. Results are compared with a statistically significant set of simulations, validating the effectiveness of the approach.