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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| Hauptverfasser: | , , , , |
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| Dokumenttyp: | Article (Journal) |
| Sprache: | Englisch |
| Veröffentlicht: |
2011
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| In: |
Journal of automation, mobile robotics, & intelligent systems
Year: 2010, Jahrgang: 63, Heft: 1, Pages: 3-23 |
| ISSN: | 1897-8649 |
| DOI: | 10.1007/s10846-010-9464-1 |
| Online-Zugang: | 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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| Verfasserangaben: | Peter Paul Pott, Achim Wagner, Essameddin Badreddin, Hans-Peter Weiser, Markus L.R. Schwarz |
MARC
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| 245 | 1 | 0 | |a Inverse dynamic model and a control application of a novel 6-DOF hybrid kinematics manipulator |c Peter Paul Pott, Achim Wagner, Essameddin Badreddin, Hans-Peter Weiser, Markus L.R. Schwarz |
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| 520 | |a 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. | ||
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| 650 | 4 | |a Inverse dynamic model | |
| 650 | 4 | |a Singularity compensation | |
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