Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter-Linear Form
A new approach for modeling of the dynamics of parallel robots is presented. It leads to a formulation of the dynamic equations which is linear with respect to a dynamic parameter vector of minimal dimension. The algorithm utilizes Jourdain’s principle of virtual power. Therefore, the resulting code is very efficient. The parameter reduction is based on opening the kinematic loops so that general rules known from serial robots can be implemented. The efficiency of the approach is proven by application to model-based control of the hexapod PaLiDA.
KeywordsParallel Manipulator Inverse Kinematic Inverse Dynamic Parallel Robot Virtual Power
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