Abstract
A complete kinematics and inverse dynamics model in closed form of the Delta Parallel Robot is devel- opped. The modelling approach uses only inverse kinematics and Newton laws to obtain an inverse dynamics model called “in the two spaces” since it is parametrized by the robot’s state in both task space and joint space.The proposed modelling process can be applied to all fully parallel robot structures and it is shown that the number of computations required to evaluate the model is not larger than the standard case of a serial robot.
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