A Lagrangian Formulation in Terms of Quasi-Coordinates for the Inverse Dynamics of the General 6-6 Stewart Platform Manipulator

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概要

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• This paper presents a closed inverse dynamic formulation by the Lagrangian approach in terms of quasi-coordinates for the general 6-6 Stewart platform manipulator. It is shown that the symbolic computation using quasi-coordinates is most efficient as the structure undergoes finite rotations. The derived inverse dynamic equations are demonstrated to be well structured, straightforward, and suitable for computer programming. Numerical examples are finally carried out to validate the approach. Results of simulation are justified to be useful in the design and dynamic control of the manipulator.

• 一般社団法人日本機械学会の論文
• 2003-09-15

著者

• Chen C‐t

  Da‐yeh Univ. Chang‐hwa Twn

• CHEN Chun-Ta

  Department of Mechanical and Automation Engineering, Da-Yeh University

• Chen Chun-ta

  Department Of Mechanical And Automation Engineering Da Yeh University

関連論文

• A Lagrangian Formulation in Terms of Quasi-Coordinates for the Inverse Dynamics of the General 6-6 Stewart Platform Manipulator
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