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Dynamic modeling of planar parallel robots considering passive joint sensor data

Published online by Cambridge University Press:  11 August 2009

Asier Zubizarreta ,
Itziar Cabanes ,
Marga Marcos  and
Charles Pinto
Asier Zubizarreta
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Itziar Cabanes*
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Marga Marcos
Affiliation:
Department of Automatic Control and System Engineering, University of the Basque Country, Spain
Charles Pinto
Affiliation:
Department of Mechanical Engineering, University of the Basque Country, Spain
*
*Corresponding author. E-mail: itziar.cabanes@ehu.es
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Summary

Model-based advanced control approaches are needed to achieve high speed and acceleration and precision in robotic operations. These control schemes need a proper dynamic model. Many approaches have been proposed by different authors in order to obtain the dynamic model of these structures. However, most of them do not consider the possibility to introduce redundant sensor data. In this paper, a methodology for obtaining a compact dynamic model considering passive joint sensor data is proposed. The dynamic model is defined in compact and structured form, which makes it appropriate to be used in advanced control techniques.

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Type
Article
Information
Robotica , Volume 28 , Issue 5 , September 2010 , pp. 649 - 661
Copyright
Copyright © Cambridge University Press 2009

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