Dynamic modeling of a parallel robot.: Application to a surgical simulator.

被引：0
|
作者：
Leroy, N [1 ]
Kökösy, AM [1 ]
Perruquetti, W [1 ]
机构：
[1] Ecole Cent Lille, CNRS, UMR 8021, LAIL, F-59651 Villeneuve Dascq, France
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a closed form solution for the dynamic model of a parallel robot. This robot is utilized like a haptic interface for a surgical simulator used in the amnicentesis operation. The dynamic model is obtained by using the Lagrange formulation applied to parallel robot. It is proved that for a large class of parallel robots which has some properties, it is possible to avoid the explicit calculation of Lagrange multipliers. The aim is to simplify the calculation for a real-time application.
引用
收藏
页码：4330 / 4335
页数：6
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