General solution for the dynamic modeling of parallel robots

被引：24

作者：

Khalil, W ^{[1
]}

Ebrahim, O ^{[1
]}

机构：

[1] Ecole Cent Nantes, IRCCyN UMR CNRS 6597, F-44321 Nantes 03, France

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

dynamic modeling; parallel robots; complex structures;

D O I：

10.1109/ROBOT.2004.1308828

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we present a general method to calculate the inverse dynamic models of parallel robot. The model is expressed in terms of one equation, which is a function of the dynamic models of the legs, the dynamics of the platform and three Jacobian matrices. The method is applied on four robots with different degrees of freedom and different structures.

引用

页码：3665 / 3670

页数：6

共 33 条

[1] AITAHMED, 1993, THESIS LAAS TOULOUSE
[2] [Anonymous], INT J ROBOTICS RES
[3] BEJI L, 1997, THESIS U EVRY VAL ES
[4] An on-line parameter estimation scheme for generalized stewart platform type parallel manipulators
Bhattacharya, S
Hatwal, H
Ghosh, A
[J]. MECHANISM AND MACHINE THEORY, 1997, 32 (01) : 79 - 89
[5] A recursive formula for the inverse of the inertia matrix of a parallel manipulator
Bhattacharya, S
Nenchev, DN
Uchiyama, M
[J]. MECHANISM AND MACHINE THEORY, 1998, 33 (07) : 957 - 964
[6] Clavel R., 1988, Proceedings of the 18th International Symposium on Industrial Robots, P91
[7] Codourey A, 1997, IEEE INT CONF ROBOT, P1612, DOI 10.1109/ROBOT.1997.614371
[8] Craig J J, 1986, Introduction to Robotics: Mechanics & Control, V3rd, DOI DOI 10.1016/0005-1098(87)90105-1
[9] Analysis and design of a six-DOF parallel manipulator, modeling, singular configurations, and workspace
Dafaoui, EM
Amirat, Y
Pontnau, J
Francois, C
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (01): : 78 - 92
[10] A Newton-Euler formulation for the inverse dynamics of the stewart platform manipulator
Dasgupta, B
Mruthyunjaya, TS
[J]. MECHANISM AND MACHINE THEORY, 1998, 33 (08) : 1135 - 1152

← 1 2 3 4 →