A recursive formula for the inverse of the inertia matrix of a parallel manipulator.

DOI10.1016/S0094-114X(97)00105-5MaRDI QIDQ1301489zbMATH OpenOpenAlexFDO

Authors Soumya Bhattacharya, D. N. Nenchev, Masaru Uchiyama

Publication date 13 September 1999

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/s0094-114x(97)00105-5

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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(7)

• The generalized momentum approach to the dynamic modeling of a 6-dof parallel manipulator
• Efficient formulations for the manipulator inertia matrix in terms of minimal linear combinations of inertia parameters
• Inversion of dynamic matrices of HDD head positioning system
• A closed-form formulation for the inverse dynamics of a Cassino parallel manipulator
• The kinematics and kinetics of multi-closed-chain mechanisms in the impact and non-impact stages
• Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work
• Inverse and direct dynamic models of hybrid robots

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