Real-time inverse dynamics control of parallel manipulators using general-purpose multibody software

Multibody System Dynamics

Volumn 22, Issue 1, 2009, Pages 47-68

  Fumagalli, Alessandro ^a   Masarati, Pierangelo ^a  

^a POLITECNICO DI MILANO   (Italy)

Author keywords

Control; Inverse dynamics; Parallel manipulators; Real time; Robotics

Indexed keywords

COMPUTED TORQUE CONTROL; CONSTRAINED MECHANICAL SYSTEMS; CONTROL ALGORITHMS; CONTROL SCHEMES; DEGREES OF FREEDOM; GENERAL PURPOSE; INVERSE DYNAMICS; INVERSE DYNAMICS CONTROL; INVERSE MODELS; MECHANISM MODEL; MODEL-BASED; MULTI-BODY; NUMERICAL RESULTS; PARALLEL MANIPULATORS; REAL-TIME; REAL-TIME APPLICATION; REDUNDANT COORDINATES; RELATIVE COORDINATES; RIGID MECHANISMS; ROBOTIC SYSTEMS; ROBOTICS APPLICATIONS;

ALGORITHMS; LARGE SCALE SYSTEMS; MANIPULATORS; MECHANISMS; REAL TIME CONTROL; ROBOTICS; ROBOTS; VIBRATIONS (MECHANICAL);

COMPUTER SOFTWARE;

EID: 68249142898     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11044-009-9153-7     Document Type: Article

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