Dynamic modeling of parallel robots for computed-torque control implementation

作     者：Codourey, A 

作者机构：ETH Zurich Inst Robot CH-8092 Zurich Switzerland 

出 版 物：《INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH》 (国际机器人研究杂志)

年 卷 期：1998年第17卷第12期

页      面：1325-1336页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

主　　题：dynamic models Robot Parallel robots mass matrix Computer algorithms operating principles Modeling 

摘      要：In recent years, increased interest in parallel robots has been observed. Their control with modern theory, such as the computed-torque method, has, however been restrained, essentially due to the difficulty in establishing a simple dynamic model that can be calculated in real time. In this paper;a simple method based on the virtual work principle is proposed for modeling parallel robots. The mass matrix of the robot needed for decoupling control strategies, does not explicitly appear in the formulation;however it can be computed separately, based on kinetic energy considerations. The method is applied to the DELTA parallel robot, leading to a very efficient model that has been implemented in a real-time computed-torque control algorithm.