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

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2 Author(s)
Sungbok Kim ; Dept. of Electr. Eng.-Syst. & Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA ; Sukhan Lee

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

Published in:

Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

Date of Conference:

1992