Inverse dynamics of wire-actuated parallel manipulators with a constraining linkage

DOI10.1016/J.MECHMACHTHEORY.2006.09.005MaRDI QIDQ2641769zbMATH OpenOpenAlexFDO

Authors Leila Notash, Amin Kamalzadeh

Publication date 23 August 2007

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

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2006.09.005

zbMATH Keywords

deactivation methodologyLagrangian equationsredundant actuation

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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Cited in

(5)

• Analysis of wire elasticity for wire-driven parallel robots
• Inverse dynamics of redundant manipulators using a minimum number of control forces
• A closed-form formulation for the inverse dynamics of a Cassino parallel manipulator
• Planning of dynamically feasible trajectories for translational, planar, and underconstrained cable-driven robots
• Kinematic calibration of a wire-actuated parallel robot

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