General solution for the dynamic modeling of parallel robots

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 49, Issue 1, 2007, Pages 19-37

  Khalil, Wisama ^a   Ibrahim, Ouarda ^a  

^a ECOLE CENTRALE DE NANTES   (France)

Author keywords

Complex structures; Dynamic modeling; Jacobian matrix; Parallel robots; Simulation

Indexed keywords

COMPUTER SIMULATION; DYNAMIC MODELS; JACOBIAN MATRICES; PROBLEM SOLVING; ROBOTICS;

COMPLEX STRUCTURES; DIRECT DYNAMIC MODELS; DYNAMIC MODELING; PARALLEL ROBOTS;

MOBILE ROBOTS;

EID: 33947668923     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-007-9137-x     Document Type: Article

References (43)

1. Ait-Ahmed, M.: Contribution à la modélisation géométrique et dynamique des robots parallèles. PhD thesis, LAAS, Toulouse (1993)
2. Angeles, J.: Fundamentals of Robotic Mechanical Systems. Springer, Berlin Heidelberg New York (2002)
3. Bhattacharya, S., Hatwal, H., Ghosh, A.: An on-line estimation scheme for generalized Stewart platform type parallel manipulators. J. Mechanism and Machine Theory 32(1), 79-89 (January 1997)
4. Bhattacharya, S., Nenchev, D.N., Uchiyarna, M.: A recursive formula for the inverse of the inertia matrix of a parallel manipulator. J. Mechanism and Machine Theory 33(7), 957-964 (October 1998)
5. Beji, L.: Modélisation, identification et commande d'un robot parallèle. PhD thesis, Université d'Evry Val d'Essonne (1997)
6. Codourey, A., Burdet, E.: A body oriented method for finding a linear form of the dynamic equatiojns of fully parallel robot. IEEE Conf. on Robotics and Automation, pp. 1612-1619. Albuquerque, New Mexico, U.S. (1997)
7. Craig, J.J.: Introduction to Robotics: Mechanics and Control. Addison Wesley, Reading, USA (1986)
8. Dafaoui, El-M., Amirat, Y., Pontnau, J., François, C.: Analysis and design of a six-DOF parallel manipulator, modeling, singular configurations, and workspace. IEEE Trans. Robot. Autom. 14(1), 78-92 (February 1998)
9. Dasgupta, B., Mruthyunjaya, T.S.: Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach. J. Mechanism and Machine Theory 33(7), 993-1012 (October 1998)
10. Dasgupta, B., Mruthyunjaya, T.S.: A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. J. Mechanism and Machine Theory 33(8), 1135-1152 (November 1998)
11. Dasgupta, B., Choudhury, P.: A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators. J. Mechanism and Machine Theory 34(6), 801-824 (August 1999)
12. Featherstone, R.: The calculation of robot dynamics using articulated-body inertias. Int. J. Rob. Res. 2 (3), 87-101 (1983)
13. Fichter, E.F.: A Stewart platform based manipulator: General theory and practical construction. Int. J. Rob. Res. 5(2), 157-181 (October 1986)
14. Geng, Z., Haynes, S., Lee, J.D., Carrol, R.L.: On the dynamic model and kinematic analysis of a class of Stewart platforms. Robot. Auton. Syst. 9, 237-254 (1992)
15. Gosselin, C.M.: Parallel computational algorithms for the kinematics and dynamics of parallel manipulators. IEEE Int. Conf. Robot. Autom. 1, 883-889 (1993) New York
16. Gugliemetti, P., Longchamp, R.: A closed form inverse dynamic model of the delta parallel robot. In: 4th IFAC Symp. on Robot Control, Syroco, pp. 51-56, Capri, 19-21 (September 1994)
17. Hoffman, R., Hoffman, M.: Vibrational modes of an aircraft simulator motion system. In: Proc. 5th World Congress on Theory of Machines and Mechanisms, pp. 603-606. Montreal (July 1979)
18. Hollerbach, J.M.: An iterative lagrangian formulation of manipulators dynamics and a comparative study of dynamics formulation complexity. IEEE Trans. Syst. Man Cybern. SMC-10(11), 730-736 (1980)
19. Ji, Z.: Study of the effect of leg inertia in Stewart platform. In: IEEE Int. Conf. on Robotics and Automation, pp. 121-126. Atlanta (May 1993)
20. Khalil, W., Kleinfinger, J.-F.: A new geometric notation for open and closed-loop robots. Proc. IEEE Conf. on Robotics and Automation, pp. 1174-1180. San Francisco (April 1986)
21. Khalil, W., Kleinfinger, J.-F.: Minimum operations and minimum parameters of the dynamic model of tree structure robots. IEEE J. Robot. Autom. RA-3(6), 517-526 (December 1987)
22. Khalil, W., Creusot, D.: SYMORO+: A system for the symbolic modelling of robots. Robotica 15, 153-161 (1997)
23. Khalil, W., Guegan, S.: Inverse and direct dynamic modeling of Gough-Stewart robots. IEEE Trans. Robot. Autom. 20(4), 754-762 (August 2004)
24. Khalil, W., Dombre, E.: Modeling, Identification and Control of Robots. Hermes Penton, London-Paris (2002)
25. Khatib, O.: A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE J. Robot. Autom. RA-3(1), 43-53 (February 1987)
26. Khosla, P.K.: Real-time control and identification of direct drive manipulators. PhD Thesis, Carnegie Mellon University, Pittsburgh, USA (1986)
27. Kleinfinger, J.-F., Khalil, W.: Dynamic modelling of closed-chain robots, 16th Int Symp on Industrial Robots, pp. 401-412. Bruxelles (1986)
28. Lebret, G., Liu, G.K., Lewis, F.L.: Dynamic analysis and control of a Stewart platform manipulator. J. Robot. Syst. 10(5), 629-655 (July 1993)
29. Lee, K.M., Shah, D.K.: Dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator. IEEE J. Robot. Autom. 4(3), 361-368 (June 1988)
30. Lilly, K.W., Orin, D.E.: Efficient O(N) computation of the operational space inertia matrix. Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1014-1019. Cincinnati, USA (May 1990)
31. Liu, M.-J., Li, C.-X., Li, C.-N.: Dynamics analysis of the Gough-Stewart platform manipulator. IEEE Trans. Robot. Autom. 16(1), 94-98 (February 2000)
32. Luh, J.Y.S., Walker, M.W., Paul, R.C.P.: On-line computational scheme for mechanical manipulators. Trans, of ASME, J. Dyn. Syst. Meas. Control 102(2), 69-76 (1980)
33. Luh J.Y.S., and Zheng, J. F.: Computation of Input generalized Forces for Robots with Closed Kinematic Chain mechanisms, IEEE Trans. Robot. Autom. RA-12, 95-103 (1985).
34. Merlet, J.-P.: Parallel Robots. Kluwer, Dordrecht, The Netherland (2000)
35. Miller, K.: Optimal design and modeling of spatial parallel manipulators. Int. J. Rob. Res. 23(2), 127-140 (February 2004)
36. Nakamura, Y., Ghodoussi, M.: A computational scheme of closed link robot dynamics derived by d'Alembert Principle. Int. Conf. on robotics and automation, IEEE, pp. 1354-1360. Philadelphia (1988)
37. Ploen, S.R., Park, F.C.: Coordinate-invariant algorithms for robot dynamics. IEEE Trans. Robot. Autom. 15(6), 1130-1135 (December 1999)
38. Reboulet, C., Berthomieu, T.: Dynamic models of a six degree of freedom parallel manipulators, ICAR, pp. 1153-1157. Pise (June 1991)
39. Sciavicco, L., Siciliano, B.: Modeling and Control of Robot Manipulators. McGraw-Hill, New York (1994)
40. Sugimoto, K.: Computational scheme for dynamic analysis of parallel manipulators. Transaction of the ASME, J. Mech. Transm. Autom. Des. 111, 29-33 (1989)
41. Tsai, L.-W.: Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work. J. Mech. Des. 122, 3-9 (March 2000)
42. Walker, M.W., Orin, D.E.: Efficient dynamic computer simulation of robotics mechanism. Trans, of ASME, J. Dyn. Syst. Meas. Control 104, 205-211 (1982)
43. Wittenburg, J.: Dynamics of Systems of Rigid Bodies. BG, Teubner (1977)