A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator

Mechanism and Machine Theory

Volumn 33, Issue 8, 1998, Pages 1135-1152

  Dasgupta, Bhaskar ^a,b   Mruthyunjaya, T S ^b  

^a INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

^b INDIAN INSTITUTE OF SCIENCE   (India)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; COMPUTER SIMULATION; DYNAMICS; FRICTION; GRAVITATIONAL EFFECTS; INVERSE PROBLEMS; VISCOSITY;

INVERSE DYNAMICS;

MANIPULATORS;

EID: 0032207838     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0094-114X(97)00118-3     Document Type: Article

References (9)

1. Stewart, D., A platform with six degrees-of-freedom, in Proceedings of the Institute of Mechanical Engineers Part I, Vol. 180, 1965-1966, pp. 371-386.
2. Merlet, J. P., Parallel manipulators Part I: theory. Design, kinematics, dynamics and control, INRIA Report, 1987.
3. Fichter, E. F., International Journal of Robotic Research, 1986, 5(2), 157-182.
4. Do, W. Q. D. and Yang, D. C. H., Journal of Robotic Systems, 1988, 5(3), 209-227.
5. Geng, Z., Haynes, L. S., Lee, J. D. and Carroll, R. L., Robotics and Autonomous Systems, 1992, 9, 237-254.
6. Liu, K., Fitzgerald, M., Dawson, D. W. and Lewis, F. L., Modelling and control of a Stewart platform manipulator, ASME DSC Vol. 33, Control of Systems with Inexact Dynamic Models, 1991, pp. 83-89.
7. Ji, Z., Study of the effect of leg inertia in Stewart platforms, in Proceedings of the IEEE International Conference of Robotics and Automation, Vol. 1, 1993, pp. 121-126.
8. Forsythe, G. E., Malcolm, M. A. and Moler, C. B., Computer Methods for Mathematical Computations, Prentice-Hall Inc., New Jersey, 1977.
9. Fu, K. S., Gonzalez, R. C. and Lee, C. S. G., Robotics: Control, Sensing, Vision and Intelligence, McGraw-Hill, New York, 1987.