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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 (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)
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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
2152-4092
1050-4729
project
SMErobot
LU Robotics Laboratory
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
2021-04-27 01:07:21
@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},
  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},
}