Abstract
Most challenging aspects in the control of complex parallel mechanisms or robotic manipulators is how to deal with the high system nonlinearity and with the coupled dynamics. These aspects can be satisfied by integrating the pose dependent inertia or mass matrix into the control scheme. To satisfy the requirements of real-time application, this paper presents a high efficient method to compute the mass matrix of arbitrarily complex parallel manipulators. Model simplification become dispensable, which leads necessarily to the improvement of control accuracy.
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