Inverse and direct dynamic modeling of Gough-Stewart robots

• Published in: IEEE transactions on robotics Vol. 20; no. 4; pp. 754 - 761
• Main Authors: Khalil, W., Guegan, S.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.08.2004; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Institute of Electrical and Electronics Engineers (IEEE)
• Subjects: Applied sciences; Automatic; Closed-form solution; Computational efficiency; Computer science; control theory; systems; Control theory. Systems; Drives; Dynamic models; Dynamic programming; Engineering Sciences; Equations; Exact sciences and technology; Exact solutions; Inertial; Inverse; Inverse problems; Kinematics; Lagrangian functions; Leg; Legged locomotion; Legs; Linkage mechanisms, cams; Mathematical analysis; Mathematical models; Mechanical engineering. Machine design; Miscellaneous; Modelling and identification; Parallel robots; Robotics; Robotics and automation; Robots; Euler equation; Linkage mechanism; Parallel mechanism; Parameter; Dynamic model; Modeling; Robotics; Inverse problem; Exact solution; inverse dynamic model; Parallel robots; base parameters; direct dynamic model; computational cost
• ISSN: 1552-3098; 1042-296X; 1941-0468; 2374-958X
• DOI: 10.1109/TRO.2004.829473

This paper presents closed-form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting and intuitive physical interpretation. The base inertial parameters of the robot, which constitute the minimum number of inertial parameters, are explicitly determined. The number of operations to compute the inverse and direct dynamic models are given.