Accuracy of Kinematic and Dynamic Models of a Gantry-Tau Parallel Kinematic Robot
(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:
https://lup.lub.lu.se/record/643292
- author
- Dressier, I. ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2007
- 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
- 2152-4092
- 1050-4729
- 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 = {{2152-4092}}, 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}}, }