An Inverse Dynamic Model of the Gough-Stewart Platform
نویسنده
چکیده
In this paper a new formulation of the inverse dynamic model of the Gough-Stewart platform is proposed. This approach is based on the methodology developped by Khalil. The platform is considered as a multi robot system moving a common load. Using a global formalism, the Jacobian and inertia matrices of each segment are computed in a factorized form. This paper provides a basis for parallel algorithm development for a dynamic control under the real time consraint. The proposed sheme is validated by the simulation results. Key–Words: Parallel Robot, Gough-Stewart Platform, Kinematic Model, Jacobian Matrix, Inverse Dynamic Model
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