A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator

DOI10.1016/S0094-114X(97)00118-3zbMath1052.70529MaRDI QIDQ1854916

T. S. Mruthyunjaya, Bhaskar Das Gupta

Publication date: 28 January 2003

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

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Robot dynamics and control of rigid bodies (70E60)

Related Items (29)

Vibration isolation and energy harvesting integrated in a Stewart platform with high static and low dynamic stiffness ⋮ Real-time inverse dynamics control of parallel manipulators using general-purpose multibody software ⋮ Influence of flexible solar arrays on vibration isolation platform of control moment gyroscopes ⋮ Explicit dynamics equations of the constrained robotic systems ⋮ Improved general solution for the dynamic modeling of Gough-Stewart platform based on principle of virtual work ⋮ Position control of stewart manipulator using a new extended adaptive fuzzy sliding mode controller and observer (E-AFSMCO) ⋮ Workspaces of the Stewart platform in the 6D space of generalized coordinates ⋮ Kinematics and dynamics analyses of a parallel manipulator with three active legs and one passive leg by a virtual serial mechanism ⋮ Design of Neural Network-Based Adaptive Inverse Dynamics Controller for Motion Control of Stewart Platform ⋮ An efficient method for inverse dynamics of kinematically defective parallel platforms ⋮ Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism ⋮ Extension of the divide-and-conquer algorithm for the efficient inverse dynamics analysis of multibody systems ⋮ Inverse dynamics of a 3-PRC parallel kinematic machine ⋮ Kinematics/statics analysis of a novel 2S\(\underline {\text{P}}\)S + \(\underline {\text{PR}}\)R\(\underline {\text{P}}\)R parallel manipulator ⋮ Application of a special form of differential equations to study movements of a loaded Stewart platform ⋮ Matrix modeling of inverse dynamics of spatial and planar parallel robots ⋮ Kinematics analysis and statics of a 2SPS+UPR parallel manipulator ⋮ Comments to the: ``Closed-form dynamic equations of the general Stewart platform through the Newton-Euler approach and ``A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator ⋮ Unnamed Item ⋮ Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism ⋮ Dynamics modelling of hexaslides using the decoupled natural orthogonal complement matrices ⋮ Inverse and direct dynamic models of hybrid robots ⋮ PD control with gravity compensation for hydraulic 6-DOF parallel manipulator ⋮ Unified solving inverse dynamics of 6-DOF serial-parallel manipulators ⋮ Dynamics of a Stewart platform ⋮ Mathematical modelling of linear motion error for Hexarot parallel manipulators ⋮ Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator ⋮ Power requirement comparison in the 3-RPR planar parallel robot dynamics ⋮ Dynamics of the spherical 3-\(U\underline{P}S/S\) parallel mechanism with prismatic actuators

This page was built for publication: A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator