Dynamic considerations and motion control experiments for a parallel direct-drive robot arm

摘要

The authors discuss the inverse dynamics of parallel robot arms with closed-chain mechanical structure and show the implications for motion control using nonlinear inversion. They demonstrate the experimental motion control results for the prototype parallel direct-drive robot arm, which is based on a spatial 5-bar linkage with 3 degrees of freedom, using a variety of control algorithms. Finally they present certain results for the dynamic parameters of the arm, which are relevant to their identification.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>