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Inverse feasible problem
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15 صفحه اولAn Inverse Dynamic Model of the Gough-Stewart Platform
In this paper a new formulation of the inverse dynamic model of the Gough-Stewart platform is proposed. This approach is based on the methodology developped by Khalil. The platform is considered as a multi robot system moving a common load. Using a global formalism, the Jacobian and inertia matrices of each segment are computed in a factorized form. This paper provides a basis for parallel algo...
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This paper presents closed form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting and intuitive physical interpretation. The base inertial parameters of the robot, which constitute the mini...
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ژورنال
عنوان ژورنال: Physical Review D
سال: 2000
ISSN: 0556-2821,1089-4918
DOI: 10.1103/physrevd.62.103513