Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | IEEE 2009 International Conference on Mechatronics, ICM 2009 |
| Erscheinungsort | Malaga, Spain |
| Publikationsstatus | Veröffentlicht - 2009 |
| Veranstaltung | IEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spanien Dauer: 14 Apr. 2009 → 17 Apr. 2009 |
Publikationsreihe
| Name | IEEE 2009 International Conference on Mechatronics, ICM 2009 |
|---|
Abstract
In the present paper we introduce a general solution of the inverse dynamics problem of any parallel robot including mechanisms with reduced mobility as well as redundant structures. Starting from the Denavit-Hartenberg and physical parameters we derive the robot's dynamics equation using the subsystems method and the Lagrangian formalism. After choosing the minimal coordinates the obtained equations are reduced to the minimal form based on the coordinate partitioning method. A main advantage is that the equations of motion are derived exclusively in an analytical form which allows the implementation into symbolic computation software, e.g. Maple. As a result, we automatically obtain the inverse dynamics solution which can directly be translated to optimized C-code and therefore be used in real-time applications. Several examples demonstrate the effectiveness of the proposed method.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Elektrotechnik und Elektronik
- Ingenieurwesen (insg.)
- Maschinenbau
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IEEE 2009 International Conference on Mechatronics, ICM 2009. Malaga, Spain, 2009. 4957202 (IEEE 2009 International Conference on Mechatronics, ICM 2009).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - On the inverse dynamics problem of general parallel robots
AU - Do Thanh, Trung
AU - Kotlarski, Jens
AU - Ortmaier, Tobias
AU - Heimann, Bodo
PY - 2009
Y1 - 2009
N2 - In the present paper we introduce a general solution of the inverse dynamics problem of any parallel robot including mechanisms with reduced mobility as well as redundant structures. Starting from the Denavit-Hartenberg and physical parameters we derive the robot's dynamics equation using the subsystems method and the Lagrangian formalism. After choosing the minimal coordinates the obtained equations are reduced to the minimal form based on the coordinate partitioning method. A main advantage is that the equations of motion are derived exclusively in an analytical form which allows the implementation into symbolic computation software, e.g. Maple. As a result, we automatically obtain the inverse dynamics solution which can directly be translated to optimized C-code and therefore be used in real-time applications. Several examples demonstrate the effectiveness of the proposed method.
AB - In the present paper we introduce a general solution of the inverse dynamics problem of any parallel robot including mechanisms with reduced mobility as well as redundant structures. Starting from the Denavit-Hartenberg and physical parameters we derive the robot's dynamics equation using the subsystems method and the Lagrangian formalism. After choosing the minimal coordinates the obtained equations are reduced to the minimal form based on the coordinate partitioning method. A main advantage is that the equations of motion are derived exclusively in an analytical form which allows the implementation into symbolic computation software, e.g. Maple. As a result, we automatically obtain the inverse dynamics solution which can directly be translated to optimized C-code and therefore be used in real-time applications. Several examples demonstrate the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=67650293086&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2009.4957202
DO - 10.1109/ICMECH.2009.4957202
M3 - Conference contribution
AN - SCOPUS:67650293086
SN - 9781424441952
T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009
BT - IEEE 2009 International Conference on Mechatronics, ICM 2009
CY - Malaga, Spain
T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009
Y2 - 14 April 2009 through 17 April 2009
ER -