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
收藏
页码：1051 / 1067
页数：17
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