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Accuracy of Kinematic and Dynamic Models of a Gantry-Tau Parallel Kinematic Robot

Dressier, I. ; Robertsson, Anders LU and Johansson, Rolf LU orcid (2007) IEEE International Conference on Robotics and Automation, 2007 p.883-888
Abstract
In this article, a new kinematic and a dynamic model for a 3-degree-of-freedom Gantry-Tau parallel kinematic robot are presented. Similar to an earlier proposed kinematic model, the dynamic model is based on the assumption of parallel actuator axes and constant end-effector orientation. The new kinematic model takes into account rotations of actuator axes which do not affect the end-effector orientation. Results from a calibration experiment show an improved positioning accuracy of the new kinematic model. A more general model of the robot including possible geometric inaccuracies causing deviations from the model assumptions has been developed in the modeling language Modelica. In a simulation, the proposed dynamic model is tested as a... (More)
In this article, a new kinematic and a dynamic model for a 3-degree-of-freedom Gantry-Tau parallel kinematic robot are presented. Similar to an earlier proposed kinematic model, the dynamic model is based on the assumption of parallel actuator axes and constant end-effector orientation. The new kinematic model takes into account rotations of actuator axes which do not affect the end-effector orientation. Results from a calibration experiment show an improved positioning accuracy of the new kinematic model. A more general model of the robot including possible geometric inaccuracies causing deviations from the model assumptions has been developed in the modeling language Modelica. In a simulation, the proposed dynamic model is tested as a feedforward term in a control application and is found to improve the tracking performance considerably. (Less)
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
kinematic model, dynamic model, Gantry-Tau parallel kinematic robot, Modelica
host publication
2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)
pages
6 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Robotics and Automation, 2007
conference location
Roma, Italy
conference dates
2007-04-10 - 2007-04-14
external identifiers
  • wos:000250915300141
  • scopus:36348944663
ISSN
1050-4729
2152-4092
project
SMErobot
RobotLab LTH
language
English
LU publication?
yes
id
3ff250d7-0ce9-4cbe-a29e-dde1c634b66b (old id 643292)
date added to LUP
2016-04-01 12:28:45
date last changed
2024-01-23 19:40:19
@inproceedings{3ff250d7-0ce9-4cbe-a29e-dde1c634b66b,
  abstract     = {{In this article, a new kinematic and a dynamic model for a 3-degree-of-freedom Gantry-Tau parallel kinematic robot are presented. Similar to an earlier proposed kinematic model, the dynamic model is based on the assumption of parallel actuator axes and constant end-effector orientation. The new kinematic model takes into account rotations of actuator axes which do not affect the end-effector orientation. Results from a calibration experiment show an improved positioning accuracy of the new kinematic model. A more general model of the robot including possible geometric inaccuracies causing deviations from the model assumptions has been developed in the modeling language Modelica. In a simulation, the proposed dynamic model is tested as a feedforward term in a control application and is found to improve the tracking performance considerably.}},
  author       = {{Dressier, I. and Robertsson, Anders and Johansson, Rolf}},
  booktitle    = {{2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)}},
  issn         = {{1050-4729}},
  keywords     = {{kinematic model; dynamic model; Gantry-Tau parallel kinematic robot; Modelica}},
  language     = {{eng}},
  pages        = {{883--888}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Accuracy of Kinematic and Dynamic Models of a Gantry-Tau Parallel Kinematic Robot}},
  year         = {{2007}},
}