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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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Bibliographische Detailangaben
Hauptverfasser: Wagner, Achim (VerfasserIn) , Pott, Peter Paul (VerfasserIn) , Schwarz, Markus (VerfasserIn) , Scharf, Hanns-Peter (VerfasserIn) , Köpfle, Andreas (VerfasserIn) , Männer, Reinhard (VerfasserIn) , Badreddin, Essameddin (VerfasserIn)
Dokumenttyp: Article (Journal) Konferenzschrift
Sprache:Englisch
Veröffentlicht: 23 April 2016
In: IFAC Proceedings Volumes
Year: 2006, Jahrgang: 39, Heft: 16, Pages: 1035-1040
ISSN:1474-6670
DOI:10.3182/20060912-3-DE-2911.00178
Online-Zugang:Verlag, Volltext: https://doi.org/10.3182/20060912-3-DE-2911.00178
Verlag: http://www.sciencedirect.com/science/article/pii/S1474667015343068
Volltext
Verfasserangaben:A. Wagner, P.P. Pott, M.L. Schwarz, H.-P. Scharf, P. Weiser, A. Köpfle, R. Männer, E. Badreddin
Beschreibung
Zusammenfassung: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.
Beschreibung:Elektronische Reproduktion der Druckausgabe
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Beschreibung:Online Resource
ISSN:1474-6670
DOI:10.3182/20060912-3-DE-2911.00178

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