Inverse dynamic model and a control application of a novel 6-DOF hybrid kinematics manipulator

• Verfasst von: Pott, Peter Paul [VerfasserIn]
• Verfasst von: Wagner, Achim [VerfasserIn]
• Verfasst von: Badreddin, Essameddin [VerfasserIn]
• Verfasst von: Weiser, Hans-Peter [VerfasserIn]
• Verfasst von: Schwarz, Markus [VerfasserIn]
• Titel: Inverse dynamic model and a control application of a novel 6-DOF hybrid kinematics manipulator
• Verf.angabe: Peter Paul Pott, Achim Wagner, Essameddin Badreddin, Hans-Peter Weiser, Markus L.R. Schwarz
• Jahr: 2011
• Jahr des Originals: 2010
• Umfang: 21 S.
• Fussnoten: Published online: 21 September 2010 ; Gesehen am 30.01.2020
• Titel Quelle: Enthalten in: Journal of automation, mobile robotics, & intelligent systems
• Ort Quelle: Warsaw : PIAP, 2007
• Jahr Quelle: 2011
• Band/Heft Quelle: 63(2011), 1, Seite 3-23
• ISSN Quelle: 1897-8649
• DOI: doi:10.1007/s10846-010-9464-1
• Datenträger: Online-Ressource
• Sprache: eng
• Sach-SW: 3-link manipulator
• Sach-SW: 70B15
• Sach-SW: Control
• Sach-SW: Epizactor
• Sach-SW: Inverse dynamic model
• Sach-SW: Singularity compensation
• K10plus-PPN: 1688924086

Abstract

Kinematics with six degrees of freedom can be of several types. This paper describes the inverse dynamic model of a novel hybrid kinematics manipulator. The so-called Epizactor consists of two planar disk systems that together move a connecting element in 6 DOF. To do so each of the disk systems has a linkage point equipped with a homokinetic joint. Each disk system can be described as a serial 3-link planar manipulator with unlimited angles of rotation. To compensate singularities, a kinematic redundancy is introduced via a fourth link. The kinematic concept leads to several technical advantages for compact 6-DOF-manipulators when compared to established parallel kinematics: The ratio of workspace volume and installation space is beneficial, the number of kinematic elements is smaller, and rotating drives are used exclusively. For a singularity-robust control-approach, the inverse dynamic model is derived using the iterative Newton-Euler-method. Feasibility is shown by the application of the model to an example where excessive actuator velocities and torques are avoided.