Title :
A novel solution for the dynamic modeling of Gough-Stewart manipulators
Author :
Khalil, Wisama ; Guegan, Sylvain
Author_Institution :
Ecole Centrale de Nantes, France
Abstract :
Presents a closed form solution for the inverse and direct dynamic models of a Gough-Stewart platform. The models are calculated 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 physical interpretation, which can be used to derive the dynamic models of other parallel structures.
Keywords :
manipulator dynamics; manipulator kinematics; matrix algebra; Cartesian dynamic model elements; Gough-Stewart manipulators; Gough-Stewart platform; Newton-Euler equation; direct dynamic models; dynamic modeling; inverse dynamic models; parallel structures; Closed-form solution; Computational complexity; Computational modeling; Equations; Inverse problems; Joining processes; Leg; Manipulator dynamics; Parallel robots; Tree data structures;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013458
