Abstract: A method for determining a trajectory in a pose space of kinematic in accordance with a given path of the trajectory is provided. The trajectory is to be traversed here by the kinematic for a certain application. A set of points in the working space of the kinematic, on which a metric of the pose space to be used for determining the trajectory is based, is determined based on the application. Based on the path, the trajectory is determined in such a way that, when the kinematic traverses the trajectory, a pose speed that is based on the metric is smaller than or equal to a predefined maximum speed.

Abstract: The invention relates to an assembly for the positioning and position detection of a deformable load-bearing plate, having a driving parallel kinematics system with a plurality of drive legs, wherein the load-bearing plate forms a constituent part of the driving parallel kinematics system or is fixed rigidly on a platform thereof, a reference parallel kinematics system with a substantially deformation-free reference plate which is formed by the platform of the reference parallel kinematics system or is fixed rigidly thereto and which is positioned underneath the load-bearing plate, and a plurality of reference legs, a sensor assembly which comprises a plurality of leg length measurement devices arranged in the reference legs and also a plurality of distance sensors arranged on the reference plate for point-wise or region-wise detection of the distance of the reference plate from the load-bearing plate, and a position-calculating unit which is connected at the input side to the leg length measurement devices a

Abstract: A kinematic system is provided having a more efficient calculation of the direct and/or indirect kinematics. The direct/indirect kinematics of a kinematic system are estimated on the basis of local support points. In particular, when estimating the indirect kinematics, an interpolation is used which, for poses in a determined spatial unit, is based on predetermined configuration vectors which are each associated with a boundary point of the determined spatial unit in accordance with the indirect kinematics. When estimating the direct kinematics, an interpolation is used which, for configuration vectors in the determined spatial unit, is based on predetermined poses of the kinematic system which are each associated with a boundary point of the determined spatial unit in accordance with the direct kinematics.

Abstract: The invention relates to a method for a usage-related calibration of parallel kinematics with a programmable actuation, said method having the steps of: releasably attaching a separate pose marking element in a uniquely defined position and angular orientation on the platform or on a base of the parallel kinematics so as to be secured against tilting using a kinematic coupling, detecting the pose of the pose marking element using a pose detection device, and determining a pose marking coordinate system in the coordinate system of the pose detection device, determining a calibrated reference coordinate system of the parallel kinematics from the pose marking coordinate system on the basis of a specified first coordinate transformation rule, and storing the calibrated reference coordinate system of the parallel kinematics in the actuator thereof or a measuring software, detecting the pose of the world coordinate system using a coordinate measuring device, determining the world coordinate system in the coordinate

Abstract: The invention relates to an assembly for the positioning and position detection of a deformable load-bearing plate, having a driving parallel kinematics system with a plurality of drive legs, wherein the load-bearing plate forms a constituent part of the driving parallel kinematics system or is fixed rigidly on a platform thereof, a reference parallel kinematics system with a substantially deformation-free reference plate which is formed by the platform of the reference parallel kinematics system or is fixed rigidly thereto and which is positioned underneath the load-bearing plate, and a plurality of reference legs, a sensor assembly which comprises a plurality of leg length measurement devices arranged in the reference legs and also a plurality of distance sensors arranged on the reference plate for point-wise or region-wise detection of the distance of the reference plate from the load-bearing plate, and a position-calculating unit which is connected at the input side to the leg length measurement devices a

Abstract: The invention relates an apparatus for analysing movement of an arrangement made of a plurality of bodies assigned to a platform, of which at least one is provided with a drive, in particular of the hexapod type or of the articulated arm type, having means for vibration analysis and/or force analysis. According to the invention, the apparatus has in a modular construction a vibration analysis module for analytically determining natural vibration modes of the bodies and/or of the platform in respect of at least one of the following variables: frequency, centre of rotation of the torsional component of the vibrations, axis of rotation of torsional vibration, displacement vector of a Cartesian vibration, amplitude ratio of the vibrations in relation to one another, and/or a force analysis module for analytically determining the acceleration forces and/or weights and/or torques, occurring on a predetermined trajectory, in respect of the bodies and/or the platform.