Inverse dynamic analysis of a 4-DOF parallel robot H4

Hee Byoung Choi, Atsushi Konno, Masaru Uchiyama

    研究成果: Conference contribution

    9 被引用数 (Scopus)

    抄録

    In this paper, inverse dynamics of the H4 robot is addressed. Dynamics of parallel robots is one of a very complicated subject. Especially, for the real time control of the parallel robot, it is an important issue. The actuating torque would depend not only on a given trajectory but also on the mass properties of the arms, the rods, travelling plate, and external forces. Dynamics are useful for computer simulation, the design of suitable control equations, and the evaluation of the kinematic design of parallel robots. The detailed dynamic equations for the H4 robot are derived using Newton-Euler method. In the last section, the effect of the rod inertia is introduced using comparative study of those methods whether the inertia of the light rod can be negligible or not in the fast motion.

    本文言語English
    ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    ページ3501-3506
    ページ数6
    出版ステータスPublished - 2004 12月 1
    イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
    継続期間: 2004 9月 282004 10月 2

    出版物シリーズ

    名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    4

    Other

    Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    国/地域Japan
    CitySendai
    Period04/9/2804/10/2

    ASJC Scopus subject areas

    • 工学(全般)

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