Matrix modeling of inverse dynamics of spatial and planar parallel robots

DOI10.1007/s11044-011-9281-8zbMath1344.70006OpenAlexW2002606151MaRDI QIDQ666581

Stefan Staicu

Publication date: 8 March 2012

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11044-011-9281-8

zbMATH Keywords

kinematicsLagrange equationsvirtual workdynamics modelingparallel mechanism

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

Modeling and analysis of rigid multibody systems with driving constraints and frictional translation joints ⋮ Trajectory-tracking control from a multibody system dynamics perspective ⋮ A Kane's based algorithm for closed-form dynamic analysis of a new design of a 3RSS-S spherical parallel manipulator ⋮ Computed torque control of redundant manipulators using general-purpose software in real-time ⋮ An enhanced inverse dynamic and joint force analysis of multibody systems using constraint matrices

Cites Work

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• Inverse dynamics of the HALF parallel manipulator with revolute actuators
• Dynamics analysis of a 3-DOF parallel manipulator with R-P-S joint structure
• Power requirement comparison in the 3-RPR planar parallel robot dynamics
• A new approach for the dynamic analysis of parallel manipulators
• Direct kinematic analysis of a 3-PRS parallel mechanism
• A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator
• Explicit dynamics equations of the constrained robotic systems
• Modular and recursive kinematics and dynamics for parallel manipulators
• Fundamentals of Robotic Mechanical Systems
• An efficient method for inverse dynamics of manipulators based on the virtual work principle
• The Isotropic Design of Two General Classes of Planar Parallel Manipulators

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