An improved mathematical model for hyper redundant hybrid mechanism based on the Lagrange method

DOI10.1080/00207179.2020.1762122MaRDI QIDQ5012671zbMATH OpenOpenAlexFDO

Authors Arash Rahmani, Shirko Faroughi, Hamed Haddad Khodaparast, Chenguang Yang

Publication date 25 November 2021

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2020.1762122

zbMATH Keywords

Coulomb friction modelhyper redundant hybrid mechanismkinematics and dynamics solutionLagrange methodrotational DOF

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Mathematical modeling or simulation for problems pertaining to systems and control theory (93-10) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism
• Closed-form forward kinematics for a symmetrical 6-6 Stewart platform using algebraic elimination
• Computed torque control of an under-actuated service robot platform modeled by natural coordinates
• Dynamics modeling and stability of robotic systems with discrete-time force control
• Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment
• Hybrid complementarity formulations for robotics applications
• Improved general solution for the dynamic modeling of Gough-Stewart platform based on principle of virtual work
• Kinematics and dynamics of 2(3-RPS) manipulators by means of screw theory and the principle of virtual work
• qpOASES: a parametric active-set algorithm for~quadratic programming
• Screw theory and higher order kinematic analysis of open serial and closed chains.
• The generalized momentum approach to the dynamic modeling of a 6-dof parallel manipulator
• The Proportional-Damping Matrix of Arbitrarily Damped Linear Mechanical Systems

Cited in

(1)

• Unified recursive kinematics and statics modeling of a redundantly actuated series-parallel manipulator with high load/mass ratio

Describes a project that uses

Uses Software

• qpOASES

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