Reduced Elastodynamic Modelling of Parallel Robots for the Computation of their Natural Frequencies

@inproceedings{Briot2011ReducedEM,
  title={Reduced Elastodynamic Modelling of Parallel Robots for the Computation of their Natural Frequencies},
  author={S{\'e}bastien Briot and Cnrs Nantes},
  year={2011}
}
In this paper is presented an approach for computing the first natural frequencies of parallel robots. This approach, based on the Rayleigh-Ritz approximation, aims at reducing the model dimension by decreasing the size of the matrices describing the robot mass and stiffness, saving computational time and avoiding inaccuracy due to ill-conditioning. Thus it can be used in the design procedure as well as in real-time control. Simulations are carried out on a PRRRP robot modelled in 3D and… CONTINUE READING

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