Title :
General solution for the dynamic modeling of parallel robots
Author :
Khalil, Wisama ; Ibrahim, Ouarda
Author_Institution :
IRCCyN, Ecole Centrale de Nantes, France
fDate :
April 26-May 1, 2004
Abstract :
In this paper, we present a general method to calculate the inverse dynamic models of parallel robots. The model is expressed in terms of one equation, which is a function of the dynamic models of the legs, the dynamics of the platform and three Jacobian matrices. The method is applied on four robots with different degrees of freedom and different structures. Consequently, the computational complexity of the obtained models can be reduced by making use of the techniques.
Keywords :
Jacobian matrices; computational complexity; robot dynamics; Jacobian matrices; computational complexity; inverse dynamic modelling; parallel robots; six degrees of freedom; Acceleration; Equations; Inverse problems; Jacobian matrices; Leg; Legged locomotion; Manipulator dynamics; Orbital robotics; Parallel robots; Tree data structures;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308828
