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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Veröffentlicht in:IEEE transactions on robotics Jg. 20; H. 4; S. 754 - 761
Hauptverfasser: Khalil, W., Guegan, S.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: 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)
Schlagworte:
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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Beschreibung
Zusammenfassung: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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ISSN:1552-3098
1042-296X
1941-0468
2374-958X
DOI:10.1109/TRO.2004.829473