DocumentCode
3178658
Title
Inverse Dynamic Modeling of Serial-Parallel Hybrid Robots
Author
Ibrahim, Ouarda ; Khalil, Wisama
Author_Institution
Ecole Centrale de Nantes
fYear
2006
fDate
Oct. 2006
Firstpage
2156
Lastpage
2161
Abstract
This paper presents a recursive solution for the inverse dynamic modeling of hybrid robots that are constructed by serially connected parallel modules. The proposed solution generalizes the recursive Newton-Euler algorithm developed for serial robots, and uses the compact form of the inverse dynamic model of parallel robots that was proposed recently by the authors
Keywords
Newton method; recursive estimation; robot kinematics; inverse dynamic modeling; recursive Newton-Euler algorithm; serial-parallel hybrid robots; Actuators; Intelligent robots; Inverse problems; Lagrangian functions; Manipulator dynamics; Medical robotics; Mobile robots; Parallel robots; Robot kinematics; Service robots; Hybrid robots; complex structures; dynamic modeling; parallel robots; redundant robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location
Beijing
Print_ISBN
1-4244-0259-X
Electronic_ISBN
1-4244-0259-X
Type
conf
DOI
10.1109/IROS.2006.282498
Filename
4058703
Link To Document