Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
803321 | Mechanism and Machine Theory | 2010 | 14 Pages |
Abstract
This paper presents recursive solutions for obtaining the inverse and direct dynamic models of hybrid robots that are constructed by serially connected non-redundant parallel modules. The proposed methods generalize the recursive Newton–Euler algorithms developed for serial robots, and use the compact form of the inverse dynamic model of parallel robots that was developed recently by the authors. The algorithms can be programmed easily whatever the number of parallel modules.
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Authors
Ouarda Ibrahim, Wisama Khalil,