Accuracy of kinematic and dynamic models of a Gantry-Tau parallel kinematic robot

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

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.

Details

Authors
Organisations
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering

Keywords

  • kinematic model, dynamic model, Gantry-Tau parallel kinematic robot, Modelica
Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages883-888
Number of pages6
Publication statusPublished - 2007
Publication categoryResearch
Peer-reviewedYes
EventIEEE International Conference on Robotics and Automation, 2007 - Roma, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

Name
ISSN (Print)2152-4092
ISSN (Electronic)1050-4729

Conference

ConferenceIEEE International Conference on Robotics and Automation, 2007
CountryItaly
CityRoma
Period2007/04/102007/04/14

Related projects

Rolf Johansson & Klas Nilsson

2005/01/012009/12/31

Project: Research

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