Dynamic modeling of planar parallel robots considering passive joint sensor data

Authors:
Asier Zubizarreta;Itziar Cabanes;Marga Marcos;Charles Pinto
Affiliations:
Department of automatic control and system engineering, university of the basque country, spain;Department of automatic control and system engineering, university of the basque country, spain;Department of automatic control and system engineering, university of the basque country, spain;Department of mechanical engineering, university of the basque country, spain
Venue:
Robotica
Year:
2010

Citing 8
Cited 0

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Abstract

Model-based advanced control approaches are needed to achieve high speed and acceleration and precision in robotic operations. These control schemes need a proper dynamic model. Many approaches have been proposed by different authors in order to obtain the dynamic model of these structures. However, most of them do not consider the possibility to introduce redundant sensor data. In this paper, a methodology for obtaining a compact dynamic model considering passive joint sensor data is proposed. The dynamic model is defined in compact and structured form, which makes it appropriate to be used in advanced control techniques.