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Inverse dynamic model and a control application of a novel 6-DOF hybrid kinematics manipulator

Kinematics with six degrees of freedom can be of several types. This paper describes the inverse dynamic model of a novel hybrid kinematics manipulator. The so-called Epizactor consists of two planar disk systems that together move a connecting element in 6 DOF. To do so each of the disk systems has...

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Bibliographic Details
Main Authors: Pott, Peter Paul (Author) , Wagner, Achim (Author) , Badreddin, Essameddin (Author) , Weiser, Hans-Peter (Author) , Schwarz, Markus (Author)
Format: Article (Journal)
Language:English
Published: 2011
In: Journal of automation, mobile robotics, & intelligent systems
Year: 2010, Volume: 63, Issue: 1, Pages: 3-23
ISSN:1897-8649
DOI:10.1007/s10846-010-9464-1
Online Access:Resolving-System, lizenzpflichtig, Volltext: https://doi.org/10.1007/s10846-010-9464-1
Verlag, lizenzpflichtig, Volltext: https://link.springer.com/article/10.1007/s10846-010-9464-1
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Author Notes:Peter Paul Pott, Achim Wagner, Essameddin Badreddin, Hans-Peter Weiser, Markus L.R. Schwarz
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Summary:Kinematics with six degrees of freedom can be of several types. This paper describes the inverse dynamic model of a novel hybrid kinematics manipulator. The so-called Epizactor consists of two planar disk systems that together move a connecting element in 6 DOF. To do so each of the disk systems has a linkage point equipped with a homokinetic joint. Each disk system can be described as a serial 3-link planar manipulator with unlimited angles of rotation. To compensate singularities, a kinematic redundancy is introduced via a fourth link. The kinematic concept leads to several technical advantages for compact 6-DOF-manipulators when compared to established parallel kinematics: The ratio of workspace volume and installation space is beneficial, the number of kinematic elements is smaller, and rotating drives are used exclusively. For a singularity-robust control-approach, the inverse dynamic model is derived using the iterative Newton-Euler-method. Feasibility is shown by the application of the model to an example where excessive actuator velocities and torques are avoided.
Item Description:Published online: 21 September 2010
Gesehen am 30.01.2020
Physical Description:Online Resource
ISSN:1897-8649
DOI:10.1007/s10846-010-9464-1

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