Kinematic and Dynamic Models of Hybrid Robot Manipulator for Propeller Grinding

Journal of Robotic Systems

Volumn 16, Issue 2-3, 1999, Pages 137-150

  Lee, Min Ki ^a   Park, Kun Woo ^a   Choi, Byung Oh ^b  

^a Changwon National University   (South Korea)

^b Korea Institute of Machine and Materials   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; FORCE CONTROL; INVERSE KINEMATICS; METHOD OF MOMENTS; MOTION CONTROL; MOTION PLANNING; POSITION CONTROL; REAL TIME SYSTEMS; ROBOTICS; VELOCITY CONTROL;

HYBRID ROBOT MANIPULATORS; PROPELLER GRINDING;

MANIPULATORS;

EID: 0033100049     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(sici)1097-4563(199903)16:3<137::aid-rob1>3.0.co;2-v     Document Type: Article

References (17)

1. D.E. Whitney and E.D. Tung, Robot grinding and finishing of cast iron stamping dies, ASME J Dyn Syst Meas Contr 114 (1992), 132-140.
2. MG. Her and H. Kazerooni, Automated robotic deburring of parts using compliance control, ASME J Dyn Syst Meas Contr 113 (1991), 60-66.
3. D. Stewart, A platform with six degrees of freedom, Proc Inst Mech Eng, London, Vol. 180, Part 1, No. 5, 1956, pp. 371-386.
4. K.M. Lee and S. Arjunan, A three-degrees-of-freedom micro moton in parallel actuated manipulator, IEEE Trans Robot Automat 7 (1991), 634-641.
5. K. Miller and B. Stevens, Modeling of dynamics and model-based control of DELTA direct-drive parallel robot, J Robot Mechatronics 7 (1995), 344-352.
6. M. Shahinpoor, Kinematics of a hybrid robot manipulator, J Robot Syst 9 (1992), 55-62.
7. F. Pierrot, A. Foumier, and P. Dauchez, Toward a fully parallel 6-DOF robot for high-speed applications, IEEE J Robot Automat 7 (1992), 15-22.
8. J.J. Craig, Introduction to robotics mechanics and control, Addison-Wesley, New York, 1989.
9. C. Innocent and V. Parenti-Castelli, Direct position analysis of the Stewart platform mechanism, Mech Mach Theory 25 (1990), 611-621.
10. J.P. Merlet, Direct kinematics of parallel manipulators, IEEE J Robot Automat 9 (1993), 842-846.
11. K.C. Cheok, J.L. Overholt, and R.R. Beck, Exact methods for determining the kinematics of a Stewart platform using additional displacement sensors, J Robot Syst 10 (1993), 689-707.
12. L. Baron and J. Angeles, The decoupling of the direct kinematics of parallel manipulators using redundant sensors, Proc IEEE Int Conf Rob Automat, San Diego, 1994, pp. 974-979.
13. K.E. Zanganeh and J. Angeles, Real-time direct kinematics of general six-degree of freedom parallel manipulators with minimum-sensor data, J Robot Syst 12 (1995), 833-844.
14. M.G. Mohamed and J. Duffy, A direct determination of the instantaneous kinematics of fully parallel robot manipulators, ASME J Mech Trans Automat Des 107 (1985), 226-229.
15. K. Sugimoto, Kinematic and dynamic analysis of parallel manipulators by means of motor algebra, ASME J Mech Trans Automat Des 109 (1987), 3-7.
16. E.F. Ficher, A Stewart platform-based manipulator: General theory and practical construction, J Robot Res 5 (1986), 157-182.
17. J.Y.S. Luh, M.W. Walker, and R.P. Paul, On-line computational scheme for mechanical manipulators, ASME J Dyn Syst Meas Contr 102 (1980), 468-474.