Dynamics of robots with Parallel Kinematic Structure

verfasst von

Martin Grotjahn, Bodo Heimann, Johannes Kühn, H. Grendel

Abstract

The principal design methodology for such machines is exemplarily discussed by consideration of two machines: the robot PaLiDA which is developed by the Institute of Production Engineering and Machine Tools and a hydraulic test stand HSP with 6 dof developed by the Hannover Center of Mechatronics. The presented approach for modelling of the dynamics takes especially into consideration real-time and parameter identification aspects. It leads to a formulation of the dynamic equations which is linear with respect to a dynamic parameter vector of minimal dimension. The algorithm utilizes JOURDAIN's principle of virtual power using operational space presentation.

Organisationseinheit(en)

Institut für Regelungstechnik
Institut für Mechatronische Systeme

Externe Organisation(en)

IAV GmbH

Typ

Aufsatz in Konferenzband

Seiten

1689-1693

Anzahl der Seiten

5

Publikationsdatum

2004

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja