Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator

  • Authors:

  • Peter Paul Pott;Achim Wagner;Essameddin Badreddin;Hans-Peter Weiser;Markus L. Schwarz

  • Affiliations:

  • Laboratory for Biomechanics and experimental Orthopaedics, Orthopaedic and Trauma Surgery Centre (OUZ), University Medical Centre Mannheim, Heidelberg University, Mannheim, Germany 68167;Automation Lab, Central Institute for Computer Engineering, Mannheim, University of Heidelberg, Mannheim, Germany 68131;Automation Lab, Central Institute for Computer Engineering, Mannheim, University of Heidelberg, Mannheim, Germany 68131;Institute for CAE Applications, Mannheim University of Applied Sciences, Mannheim, Germany 68163;Laboratory for Biomechanics and experimental Orthopaedics, Orthopaedic and Trauma Surgery Centre (OUZ), University Medical Centre Mannheim, Heidelberg University, Mannheim, Germany 68167

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2011

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Abstract

Kinematics with six degrees of freedom can be of several types. This paper describes the inverse dynamic model of a novel hybrid kinematics manipulator. The so-called Epizactor consists of two planar disk systems that together move a connecting element in 6 DOF. To do so each of the disk systems has a linkage point equipped with a homokinetic joint. Each disk system can be described as a serial 3-link planar manipulator with unlimited angles of rotation. To compensate singularities, a kinematic redundancy is introduced via a fourth link. The kinematic concept leads to several technical advantages for compact 6-DOF-manipulators when compared to established parallel kinematics: The ratio of workspace volume and installation space is beneficial, the number of kinematic elements is smaller, and rotating drives are used exclusively. For a singularity-robust control-approach, the inverse dynamic model is derived using the iterative Newton---Euler-method. Feasibility is shown by the application of the model to an example where excessive actuator velocities and torques are avoided.