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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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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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