Inverse and direct dynamic modeling of Gough-Stewart robots - Khalil, W.; Guegan, S. (IEEE transactions on robotics, 2004)
Keywords: 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