Cartesian space dynamic model of serial-parallel manipulator systems and their dynamic performance evaluation

A Cartesian space forward and inverse dynamic model of serial-parallel manipulator systems is presented. The systems dynamic manipulability is defined as the capability of generating Cartesian accelerations within joint torque limits of individual arms. The dynamic performance of serial-parallel manipulator systems is then evaluated by analyzing the effects of object loading, parallel structure, bracing, and joint locking on the dynamic manipulability.<
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