Real-time inverse dynamics control of parallel manipulators using general-purpose multibody software

DOI10.1007/s11044-009-9153-7zbMath1189.70022OpenAlexW1983746595MaRDI QIDQ833090

Pierangelo Masarati, Alessandro Fumagalli

Publication date: 11 August 2009

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

Full work available at URL: https://doi.org/10.1007/s11044-009-9153-7

zbMATH Keywords

controlroboticsreal-timeinverse dynamicsparallel manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Software, source code, etc. for problems pertaining to mechanics of particles and systems (70-04)

Related Items (4)

Adding kinematic constraints to purely differential dynamics ⋮ Computed torque control of fully-actuated nondeterministic multibody systems ⋮ Extension of the divide-and-conquer algorithm for the efficient inverse dynamics analysis of multibody systems ⋮ Computed torque control of redundant manipulators using general-purpose software in real-time

Uses Software

• MBDyn

Cites Work

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• Modelling and control of robot manipulators.
• A model reduction method for the control of rigid mechanisms
• Computational and Design Aspects in Multibody Software Development
• Using dense storage to solve small sparse linear systems
• A column pre-ordering strategy for the unsymmetric-pattern multifrontal method

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