Inverse and Direct Dynamic Modeling of Gough-Stewart RobotsReportar como inadecuado




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1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : This paper presents closed form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting and intuitive physical interpretation. The base inertial parameters of the robot, which constitute the minimum number of inertial parameters, are explicitly determined. The number of operations to compute the inverse and direct dynamic models are given.

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Keywords : Parallel robots inverse dynamic model direct dynamic model base parameters computational cost

keyword : computational cost.





Autor: Wisama Khalil - Sylvain Guegan -

Fuente: https://hal.archives-ouvertes.fr/



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