Simplified model for inverse dynamics control of the Cartesian parallel manipulator I.Ca.Ro.

摘要

This paper deals with the simulation of an inverse dynamics control scheme for a pure translational Cartesian parallel manipulator. Firstly, an analysis of robot dynamics is performed to verify the presence of poorly relevant terms. A polynomial simplified model is then built by fitting the mathematical model of the dynamics. The effectiveness of the proposed simplification is then tested through a simulated control scheme realized in a computer assisted modelling environment.