We examine here the modular and recursive formulation of the inverse dynamics of parallel architecture mainpulators. The concept of the decoupled natural orthogonal complement (DeNOC) is combined with the spatial parallelism of the robots of interest to develop an inverse dynamics algorithm which is both recursive and modular.
Recursive Kinematics and Inverse Dynamics for Parallel Manipulators
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Khan, WA, Krovi, VN, Saha, SK, & Angeles, J. "Recursive Kinematics and Inverse Dynamics for Parallel Manipulators." Proceedings of the ASME 2003 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Volumes 1 and 2. Washington, DC, USA. November 15–21, 2003. pp. 691-702. ASME. https://doi.org/10.1115/IMECE2003-42868
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