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Efficient inverse dynamics of a parallel robot with two movable platforms

An efficient algorithm for the calculation of the inverse kinematics and dynamics considering a parallel robot with two movable platforms is proposed. The approach is based on the Newton-Euler formalism, the virtual work principle, and the usage of the instantaneously coincident coordinate frame of...

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Bibliographic Details
Main Authors: Wagner, Achim (Author) , Pott, Peter Paul (Author) , Schwarz, Markus (Author) , Scharf, Hanns-Peter (Author) , Köpfle, Andreas (Author) , Männer, Reinhard (Author) , Badreddin, Essameddin (Author)
Format: Article (Journal) Conference Paper
Language:English
Published: 23 April 2016
In: IFAC Proceedings Volumes
Year: 2006, Volume: 39, Issue: 16, Pages: 1035-1040
ISSN:1474-6670
DOI:10.3182/20060912-3-DE-2911.00178
Online Access:Verlag, Volltext: https://doi.org/10.3182/20060912-3-DE-2911.00178
Verlag: http://www.sciencedirect.com/science/article/pii/S1474667015343068
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Author Notes:A. Wagner, P.P. Pott, M.L. Schwarz, H.-P. Scharf, P. Weiser, A. Köpfle, R. Männer, E. Badreddin
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Summary:An efficient algorithm for the calculation of the inverse kinematics and dynamics considering a parallel robot with two movable platforms is proposed. The approach is based on the Newton-Euler formalism, the virtual work principle, and the usage of the instantaneously coincident coordinate frame of the robot base. Corresponding to a hand-held surgical robot application, the derived inverse dynamics solution is capable to describe the forces which are required (1) to generate the desired motion of the tool and (2) to decouple the tool from disturbances induced at the base.
Item Description:Elektronische Reproduktion der Druckausgabe
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Physical Description:Online Resource
ISSN:1474-6670
DOI:10.3182/20060912-3-DE-2911.00178

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