A closed-form formulation for the inverse dynamics of a Cassino parallel manipulator

DOI10.1023/A:1009845926734zbMath0983.70008OpenAlexW47758776MaRDI QIDQ5931112

João Carlos Mendes Carvalho, Marco Ceccarelli

Publication date: 21 April 2002

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1009845926734

zbMATH Keywords

symmetryCassino parallel manipulatordynamic simulationinput torquekinematic chainNewton-Euler equationsrobot dynamics

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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