Inverse and direct dynamic modeling of Gough-Stewart robots

被引：121

作者：

Khalil, W ^{[1
]}

Guegan, S ^{[1
]}

机构：

[1] Inst Rech Commun & Cybernet Nantes, CNRS, UMR 6597, F-44321 Nantes 3, France

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 04期

关键词：

base parameters; computational cost; direct dynamic model; inverse dynamic model; parallel robots;

D O I：

10.1109/TRO.2004.829473

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents closed-form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting and intuitive physical interpretation. The base inertial parameters of the robot, which constitute the minimum number of inertial parameters, are explicitly determined. The number of operations to compute the inverse and direct dynamic models are given.

引用

页码：754 / 762

页数：9

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