Solving the Inverse Dynamics of a Stewart-Gough Manipulator by the Principle of Virtual Work
- 1 December 1999
- journal article
- Published by ASME International in Journal of Mechanical Design
- Vol. 122 (1), 3-9
- https://doi.org/10.1115/1.533540
Abstract
This paper presents a systematic methodology for solving the inverse dynamics of a Stewart-Gough manipulator. Based on the principle of virtual work and the concept of link Jacobian matrices, a methodology for deriving the dynamical equations of motion is developed. It is shown that the dynamics of the manipulator can be reduced to solving a system of six linear equations in six unknowns. A computational algorithm for solving the inverse dynamics of the manipulator is developed and several trajectories of the moving platform are simulated. [S1050-0472(00)00401-3]Keywords
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