Journal ArticleDOI
Forward dynamic analysis of parallel robots using modified decoupled natural orthogonal complement method
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TLDR
The modified DeNOC (MDeNOC) method is introduced, inspired by the relation between VSM and ALM, which has the ability of dynamic response and constraint reactions calculations with less preparation effort compared to DeN OC, while its accuracy is similar to Lagrange-VSM.About:
This article is published in Mechanism and Machine Theory.The article was published on 2017-09-01. It has received 17 citations till now.read more
Citations
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Journal ArticleDOI
Dynamic modeling of planar closed-chain robotic manipulators in flight and impact phases
A. M. Shafei,H. R. Shafei +1 more
TL;DR: This work is actually an extension of the previous investigation of the authors, which was restricted to the study of an open kinematic chain, and is the first time that a combination of finite and impulsive constraints in a closed-chain mechanical system has been recursively formulated.
Journal ArticleDOI
Adaptive control of parallel robots with uncertain kinematics and dynamics
TL;DR: An adaptive controller is designed for parallel robots based on representation of Jacobian matrix in regressor form, such that asymptotic trajectory tracking is ensured.
Journal ArticleDOI
The effects of mode shapes on the temporal response of flexible closed-loop linkages under the impulse excitation
A. M. Shafei,Mohsen Riahi +1 more
TL;DR: In this article , a dynamic modeling of the closed-loop flexible linkages in the non-impact and impact stages is presented by relying on the Timoshenko beam theory and the assumed modes method.
Journal ArticleDOI
An enhanced inverse dynamic and joint force analysis of multibody systems using constraint matrices
TL;DR: A new way of computing the constraint transfer matrix for the inverse dynamic and joint force analysis of multibody systems is developed using the Newton–Euler method and the screw theory notations by incorporating a unified constrainttransfer matrix for all types of joints.
Journal ArticleDOI
Efficient method for robot forward dynamics computation
Vladimir Kvrgic,Jelena Vidakovic +1 more
TL;DR: A simple and efficient method to solve forward dynamics using the modified RNEA (mRNEA) only once and an algorithm that calculates the joints’ accelerations based on forward dynamics while considering the actuators’ force/torque saturations and achieves a realistic simulation of robot movements is presented.
References
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Book
Fundamentals of Robotic Mechanical Systems
TL;DR: This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks and aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based.
Journal ArticleDOI
A Newton-Euler Formulation for the Inverse Dynamics of the Stewart Platform Manipulator
TL;DR: In this paper, an inverse dynamic formulation by the Newton-Euler approach for the Stewart platform manipulator of the most general architecture and models all the dynamic and gravity effects as well as the viscous friction at the joints is presented.
A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator
TL;DR: An inverse dynamic formulation by the Newton–Euler approach for the Stewart platform manipulator of the most general architecture is presented and models all the dynamic and gravity effects as well as the viscous friction at the joints.
Journal ArticleDOI
A general strategy based on the Newton-Euler approach for the dynamic formulation of parallel manipulators
TL;DR: In this paper, a general strategy based on the Newton-Euler approach to the dynamic formulation of parallel manipulators is presented, which can be used with advantage not only for inverse dynamics computations, but also for the derivation of dynamic equations in closed form.
Journal ArticleDOI
Modeling and set point control of closed-chain mechanisms: theory and experiment
TL;DR: It is shown that closed-chain mechanisms still satisfy a skew symmetry property, and that proportional derivative (PD)-based control with so-called simple gravity compensation guarantees (local) asymptotic stability.