A method for 6-PSS parallel robot dynamics model

Abstract

The paper studied a dynamic model for a 6-PSS parallel robot. First, a general method to calculate the inverse dynamics model of the parallel robot has been given out, and then the direct dynamics model with Lagrange method has been established. Comparing with the traditional method which use the input as the generalized coordinates, using pose as a method… (More)
DOI: 10.1109/ICCA.2010.5524406

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