Title :
Inverse Dynamic Modeling of Serial-Parallel Hybrid Robots
Author :
Ibrahim, Ouarda ; Khalil, Wisama
Author_Institution :
Ecole Centrale de Nantes
Abstract :
This paper presents a recursive solution for the inverse dynamic modeling of hybrid robots that are constructed by serially connected parallel modules. The proposed solution generalizes the recursive Newton-Euler algorithm developed for serial robots, and uses the compact form of the inverse dynamic model of parallel robots that was proposed recently by the authors
Keywords :
Newton method; recursive estimation; robot kinematics; inverse dynamic modeling; recursive Newton-Euler algorithm; serial-parallel hybrid robots; Actuators; Intelligent robots; Inverse problems; Lagrangian functions; Manipulator dynamics; Medical robotics; Mobile robots; Parallel robots; Robot kinematics; Service robots; Hybrid robots; complex structures; dynamic modeling; parallel robots; redundant robots;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282498
