Kinematic and dynamic modelling for real-time control of Tau parallel robot

被引：31

作者：

Zhu, ZQ ^{[1
]}

Li, JS

Gan, ZX

Zhang, H

机构：

[1] Stevens Inst Technol, Dept Mech Engn, Hoboken, NJ 07030 USA

[2] ABB Inc, Corp Res, Windsor, CT 06095 USA

来源：

MECHANISM AND MACHINE THEORY | 2005年 / 40卷 / 09期

关键词：

parallel robot; kinematics; dynamics; model-based control;

D O I：

10.1016/j.mechmachtheory.2004.12.024

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents the methodology of the kinematic and dynamic modeling for a newly developed parallel robot with the so-called Tau configuration. A set of analytical kinematic solutions has been developed for this parallel structure. A rigid body dynamic model has been formulated based on the principle of virtual work. Specific requirements including model term separation for real-time model based motion control are addressed in the analytical solutions, which are verified by both numerical simulation and actual experiments. This analytical approach enables the real-time control of this parallel robot with high positioning accuracy. (c) 2005 Elsevier Ltd. All rights reserved.

引用

页码：1051 / 1067

页数：17

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