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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Vydáno v:	IEEE transactions on robotics Ročník 20; číslo 4; s. 754 - 761
Hlavní autoři:	Khalil, W., Guegan, S.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	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)
Témata:	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 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
ISSN:	1552-3098, 1042-296X, 1941-0468, 2374-958X
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Popis
Shrnutí:	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.
Bibliografie:	SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 14 ObjectType-Article-2 content type line 23
ISSN:	1552-3098 1042-296X 1941-0468 2374-958X
DOI:	10.1109/TRO.2004.829473