Paper Info
Title
A redundant dynamic model of parallel robots for model-based control
Abstract
The use of extra sensors in parallel robots can provide an increase in control performance, making it possible to fully exploit the potential of these mechanisms. In this paper, a comprehensive redundant dynamic modelling procedure for the six-degree-of-freedom Gough platform is presented. The proposed methodology makes it possible to define the model in terms of all sensorized joint variables in order to implement redundant information-based control, and an example, the Extended Computed Torque Control Extended CTC approach, is developed. This, applied to parallel robots, ensures better dynamic performance than the traditional CTC approach. In order to validate dynamic modelling, a two-step procedure is used in this paper. First, the redundant dynamic model is validated by comparing its dynamic performance with the previous research in the field. Second, an exhaustive study is carried out that demonstrates the advantages of the redundant dynamic model when used in the Extended CTC approach.
Year
DOI
Venue
2013
10.1017/S0263574712000185
Robotica
Keywords
DocType
Volume
redundant information-based control,redundant dynamic modelling procedure,redundant dynamic model,dynamic modelling,Extended CTC approach,model-based control,parallel robot,control performance,dynamic performance,traditional CTC approach,Extended Computed Torque Control
Journal
31
Issue
ISSN
Citations 
2
0263-5747
2
PageRank 
References 
Authors
0.39
11
4
Name
Order
Citations
PageRank
Asier Zubizarreta13712.30
Itziar Cabanes22610.64
Marga Marcos316528.15
Charles Pinto4489.53