DocumentCode
414396
Title
General solution for the dynamic modeling of parallel robots
Author
Khalil, Wisama ; Ibrahim, Ouarda
Author_Institution
IRCCyN, Ecole Centrale de Nantes, France
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
3665
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308828
Filename
1308828
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