Dynamics of robots with parallel kinematic structure

被引：0
|
作者：
Grotjahn, M [1 ]
Heimann, B [1 ]
Kuehn, J [1 ]
Grendel, H [1 ]
机构：
[1] Leibniz Univ Hannover, Hannover Ctr Mechatron, D-30167 Hannover, Germany
来源：
ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS | 2004年
关键词：
parallel robots; inverse dynamics; parameter identification; feedforward control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The principal design methodology for such machines is exemplarily discussed by consideration of two machines: the robot "PaLiDA" which has been developed by the Institute of Production Engineering and Machine Tools and a hydraulic test stand "HSP" with 6 dof developed by the Hannover Center of Mechatronics. The presented approach for modelling of the dynamics takes especially into consideration real-time and parameter identification aspects. It leads to a formulation of the dynamic equations which is linear with respect to a dynamic parameter vector of minimal dimension. The algorithm utilizes JOURDAIN's principle of virtual power using operational space presentation.
引用
收藏
页码：1689 / 1693
页数：5
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