Inverse and direct dynamic models of hybrid robots

DOI10.1016/J.MECHMACHTHEORY.2009.11.007zbMath1254.70010OpenAlexW2028384208MaRDI QIDQ985921

Ouarda Ibrahim, Wisama Khalil

Publication date: 9 August 2010

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2009.11.007

zbMATH Keywords

complex structuresdynamic modelingparallel robotsredundant robotshybrid robots

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

Related Items (3)

Degeneracy conditions of the dynamic model of parallel robots ⋮ Global identification of joint drive gains and dynamic parameters of parallel robots ⋮ Dynamic modeling and vibration prediction of an industrial robot in manufacturing

Uses Software

• SYMORO+

Cites Work

• Unnamed Item
• A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators.
• A recursive formula for the inverse of the inertia matrix of a parallel manipulator.
• An on-line parameter estimation scheme for generalized Stewart platform type parallel manipulators.
• A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator
• Parallel robots.
• Dynamic analysis and control of a stewart platform manipulator
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• Flexible multibody dynamics based on a non-linear Euler-Bernoulli kinematics

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