Title :
Simplified model for inverse dynamics control of the Cartesian parallel manipulator I.Ca.Ro.
Author :
Carbonari, Luca ; Callegari, Massimo ; Palmieri, Giacomo ; Palpacelli, Matteo-Claudio
Author_Institution :
Dept. of Ind. Eng. & Math. Sci., Polytech. Univ. of Marche, Ancona, Italy
Abstract :
This paper deals with the simulation of an inverse dynamics control scheme for a pure translational Cartesian parallel manipulator. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the mathematical model of the dynamics. The effectiveness of the proposed simplification is then tested through a simulated control scheme realized in a computer assisted modelling environment.
Keywords :
manipulator dynamics; I.Ca.Ro; computer assisted modelling environment; inverse dynamics control scheme; mathematical model; polynomial simplified model; robot dynamics; simulated control scheme; translational Cartesian parallel manipulator; Acceleration; Computational modeling; Dynamics; Manipulator dynamics; Mathematical model; TV;
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2014 IEEE/ASME International Conference on
Conference_Location :
Besacon
DOI :
10.1109/AIM.2014.6878279
