TY - GEN
T1 - Inverse dynamics of hexa parallel robot using lagrangian dynamics formulation
AU - Ahmadi, Mahdi
AU - Dehghani, Mehdi
AU - Eghtesad, Mohammad
AU - Khayatian, Ali Reza
PY - 2008
Y1 - 2008
N2 - In this paper we will study dynamical model of a parallel robot Hexa using Lagrangian equation of the first type. Because of complexity and nonlinearity of parallel robots' relationships there are few works done on their dynamical modeling. Although Newtonian approach is a straightforward method, it may not directly result in a suitable model for most of famous control schemes such as robust, adaptive or robust-adaptive; this model is usually calculated from Lagrangian formulation. Since parallel manipulators are usually very nonlinear, using Lagrange equation of the second type is a tremendous work while Lagrange equation of the first type decreases much complexity. Also we have written software, HEXA STUDIO, suitable for design, kinematics, dynamics and control of the Hexa robot.
AB - In this paper we will study dynamical model of a parallel robot Hexa using Lagrangian equation of the first type. Because of complexity and nonlinearity of parallel robots' relationships there are few works done on their dynamical modeling. Although Newtonian approach is a straightforward method, it may not directly result in a suitable model for most of famous control schemes such as robust, adaptive or robust-adaptive; this model is usually calculated from Lagrangian formulation. Since parallel manipulators are usually very nonlinear, using Lagrange equation of the second type is a tremendous work while Lagrange equation of the first type decreases much complexity. Also we have written software, HEXA STUDIO, suitable for design, kinematics, dynamics and control of the Hexa robot.
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U2 - 10.1109/INES.2008.4481284
DO - 10.1109/INES.2008.4481284
M3 - Conference contribution
AN - SCOPUS:50249186991
SN - 9781424420834
T3 - 12th International Conference on Intelligent Engineering Systems - Proceedings, INES 2008
SP - 145
EP - 150
BT - 12th International Conference on Intelligent Engineering Systems - Proceedings, INES 2008
T2 - 12th International Conference on Intelligent Engineering Systems, INES 2008
Y2 - 25 February 2008 through 29 February 2008
ER -