A body-oriented method for dynamic modeling and adaptive control of fully parallel robots

摘要

In this paper we propose a method based on the virtual work principle to find a linear form of the dynamic equation of fully parallel robots. Compared to other methods, it has the advantage that it does not need to open the closed loop structure into a tree-structure robot. It considers rather each body separately using its Jacobian matrix to project the forces into the joint space of the robot. Thus, simplifications can be made at the very beginning of the modeling, that is very usefull for real-time nonlinear adaptive control implementation. As an example, the method is applied to the Hexaglide, a parallel machine tool with 6 degree-of-freedom. Based on this model, a simulation of a non-linear adaptive controller is performed, demonstrating the possibility to apply nonlinear adaptive control to complex parallel robots.