Explicit dynamics formulation of Stewart-Gough platform: A Newton-Euler approach

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages 2772-2777

  Oftadeh, Reza ^a   Aref, Mohammad M ^a   Taghirad, Hamid D ^a  

^a K N TOOSI UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

[No Author keywords available]

Indexed keywords

COMPONENTWISE; DESIGN AND CONTROL; DYNAMICS ANALYSIS; DYNAMICS EQUATION; DYNAMICS FORMULATION; EXPLICIT DYNAMICS; HIGHER-DEGREE; KINEMATIC STRUCTURES; LAGRANGE METHODS; MASS MATRICES; MODEL-BASED CONTROL; NEWTON-EULER APPROACH; PARALLEL MANIPULATORS; STEWART-GOUGH PLATFORM;

DYNAMIC ANALYSIS; DYNAMICS; INTELLIGENT ROBOTS;

MANIPULATORS;

EID: 78651487377     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2010.5653157     Document Type: Conference Paper

References (13)

1. C.Gosselin, "Parallel computational algorithms for the kinematics and dynamics of planar and spatial parallel manipulators," Trans. ASME Journal of Dynamic Systems, Measurement and Control, pp. 22-28, 1996.
2. N. Dasgupta and T. Mruthyunjaya, "A newton-euler formulation for the inverse dynamics of the stewart platform manipulator," Mechanism and Machine Theory, 1998.
3. C. NGUYEN and F. POORAN, "Dynamic analysis of a 6 dof CKCM robot end-effector for dual-arm telerobot systems," Robotics and Autonomous Systems, vol. 5, pp. 377-394, 1989.
4. G. Lebret, K. Liu, and F. Lewis, "Dynamic analysis and control of a stewart platform manipulator," Journal of Robotic Systems, vol. 10, no. 5, pp. 629-655, 1993.
5. J. Wang and C. Gosselin, "A new approach for the dynamic analysis of parallel manipulators," Multibody System Dynamics, vol. 2, no. 3, pp. 317-334, 1998.
6. M. Liu, C. Li, and C. Li, "Dynamics analysis of the Gough-Stewart platform manipulator," IEEE Transactions on Robotics and Automation, vol. 16, no. 1, pp. 94-98, 2000.
7. B. Dasgupta and T. S. Mruthyunjaya, "a newton-euler formulation for the inverse dynamics of the stewart platform manipulator," Mechanism and Machine Theory, vol. 33, no. 8, pp. 1135-1152, 1998.
8. W. Khalil and S. Guegan, "Inverse and direct dynamic modeling of Gough-Stewart robots," IEEE Transactions on Robotics, vol. 20, no. 4, pp. 754-761, 2004.
9. J. He, H. Jiang, D. Cong, Z. Ye, and J. Han, "A Survey on Control of Parallel Manipulator," Key Engineering Materials, vol. 339, pp. 307-313, 2007.
10. S. Ploen, "A skew-symmetric form of the recursive Newton-Euler algorithm forthe control of multibody systems," in American Control Conference, 1999. Proceedings of the 1999, vol. 6, 1999.
11. F. Ghorbel, O. Chetelat, R. Gunawardana, and R. Longchamp, "Modeling and set point control of closed-chain mechanisms: Theory and experiment," IEEE Transactions on Control Syst. Technol., vol. 8, p. 801815, September 2000.
12. Y. Yiu, H. Cheng, Z. Xiong, G. Liu, and Z. Li, "On the dynamics of parallel manipulators," in IEEE International Conference on Robotics and Automation, vol. 4, pp. 3766-3771, Citeseer, 2001.
13. T.-C. L. Hong-Chin Lin and K. H. Yae, "On The Skew-Symmetric Property Of The Newton-Euler Fo Mulation For Openchain Robot Manipulators," in American Control Conference, pp. 2322-2326, 1995.