Simplified model for inverse dynamics control of the Cartesian parallel manipulator I.Ca.Ro.

被引：0
|
作者：
Carbonari, Luca [1 ]
Callegari, Massimo [1 ]
Palmieri, Giacomo [2 ]
Palpacelli, Matteo-Claudio [1 ]
机构：
[1] Polytech Univ Marche, Dept Ind Engn & Math Sci, I-60131 Ancona, Italy
[2] Fac Engn, I-22060 Novara, Italy
来源：
2014 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2014年
关键词：
D O I：
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中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper deals with the simulation of an inverse dynamics control scheme for a pure translational Cartesian parallel manipulator. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the mathematical model of the dynamics. The effectiveness of the proposed simplification is then tested through a simulated control scheme realized in a computer assisted modelling environment.
引用
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页码：1406 / 1412
页数：7
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