Dynamic Modeling of Parallel Robots for Computed-Torque Control Implementation
- 1 December 1998
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 17 (12), 1325-1336
- https://doi.org/10.1177/027836499801701205
Abstract
In recent years, increased interest in parallel robots has been ob served. Their control with modern theory, such as the computed- torque method, has, however, been restrained, essentially due to the difficulty in establishing a simple dynamic model that can be calcu lated in real time. In this paper, a simple method based on the virtual work principle is proposed for modeling parallel robots. The mass matrix of the robot, needed for decoupling control strategies, does not explicitly appear in the formulation; however, it can be computed separately, based on kinetic energy considerations. The method is applied to the DELTA parallel robot, leading to a very efficient model that has been implemented in a real-time computed-torque control algorithm.Keywords
This publication has 9 references indexed in Scilit:
- Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legsRobotica, 1997
- Parallel Computational Algorithms for the Kinematics and Dynamics of Planar and Spatial Parallel ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1996
- Inverse dynamics of a parallel manipulatorJournal of Robotic Systems, 1994
- Dynamic analysis and control of a stewart platform manipulatorJournal of Robotic Systems, 1993
- An efficient method for inverse dynamics of manipulators based on the virtual work principleJournal of Robotic Systems, 1993
- Kinematics of a Hybrid Series-Parallel Manipulation SystemJournal of Dynamic Systems, Measurement, and Control, 1989
- Mathematical Methods of Classical MechanicsGraduate Texts in Mathematics, 1989
- Inverse dynamic analysis and simulation of a platform type of robotJournal of Robotic Systems, 1988
- Direct-Drive RobotsPublished by MIT Press ,1987