Inverse and direct dynamic modeling of Gough-Stewart robots
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 intuit...
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| Published in: | IEEE transactions on robotics Vol. 20; no. 4; pp. 754 - 761 |
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| Main Authors: | , |
| Format: | Journal Article |
| Language: | English |
| Published: |
New York, NY
IEEE
01.08.2004
Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Institute of Electrical and Electronics Engineers (IEEE) |
| Subjects: | |
| ISSN: | 1552-3098, 1042-296X, 1941-0468, 2374-958X |
| Online Access: | Get full text |
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| Abstract | 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. |
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| AbstractList | 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. 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.[PUBLICATION ABSTRACT] |
| Author | Khalil, W. Guegan, S. |
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| Copyright | Copyright Institute of Electrical and Electronics Engineers, Inc. (IEEE) Aug 2004 Distributed under a Creative Commons Attribution 4.0 International License |
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| Keywords | Euler equation Linkage mechanism Parallel mechanism Parameter Dynamic model Modeling Robotics Inverse problem Exact solution inverse dynamic model Parallel robots base parameters direct dynamic model computational cost |
| Language | English |
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| Snippet | 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... 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... |
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| SubjectTerms | Applied sciences Automatic Closed-form solution Computational efficiency Computer science; control theory; systems Control theory. Systems Drives Dynamic models Dynamic programming Engineering Sciences Equations Exact sciences and technology Exact solutions Inertial Inverse Inverse problems Kinematics Lagrangian functions Leg Legged locomotion Legs Linkage mechanisms, cams Mathematical analysis Mathematical models Mechanical engineering. Machine design Miscellaneous Modelling and identification Parallel robots Robotics Robotics and automation Robots |
| Title | Inverse and direct dynamic modeling of Gough-Stewart robots |
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