Dynamic modeling of planar parallel robots considering passive joint sensor data

被引：2

作者：

Zubizarreta, Asier ^{[1
]}

Cabanes, Itziar ^{[1
]}

Marcos, Marga ^{[1
]}

Pinto, Charles ^{[2
]}

机构：

[1] Univ Basque Country, Dept Automat Control & Syst Engn, Madrid, Spain

[2] Univ Basque Country, Dept Mech Engn, Madrid, Spain

来源：

ROBOTICA | 2010年 / 28卷

关键词：

INVERSE DYNAMICS; PLATFORM TYPE; MANIPULATOR; FORMULATION; MECHANISMS; SIMULATION; MATRIX;

D O I：

10.1017/S0263574709990300

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Model-based advanced control approaches are needed to achieve high speed and acceleration and precision in robotic operations. These control schemes need a proper dynamic model. Many approaches have been proposed by different authors in order to obtain the dynamic model of these structures. However, most of them do not consider the possibility to introduce redundant sensor data. In this paper, a methodology for obtaining a compact dynamic model considering passive joint sensor data is proposed. The dynamic model is defined in compact and structured form, which makes it appropriate to be used in advanced control techniques.

引用

页码：649 / 661

页数：13

共 36 条

[1]

Angeles Jorge., 2007, Fundamentals of robotic mechanical systems theory, methods, and algorithms, VThird

[2] The kinematic decoupling of parallel manipulators using joint-sensor data [J].