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Accuracy of Kinematic and Dynamic Models of a Gantry-Tau Parallel Kinematic Robot

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3 Author(s)
Isolde Dressler ; Department of Automatic Control, LTH, Lund University, SE-221 00 Lund, Sweden. ; Anders Robertsson ; Rolf Johansson

In this article, a new kinematic and a dynamic model for a 3-degree-of-freedom Gantry-Tau parallel kinematic robot are presented. Similar to an earlier proposed kinematic model, the dynamic model is based on the assumption of parallel actuator axes and constant end-effector orientation. The new kinematic model takes into account rotations of actuator axes which do not affect the end-effector orientation. Results from a calibration experiment show an improved positioning accuracy of the new kinematic model. A more general model of the robot including possible geometric inaccuracies causing deviations from the model assumptions has been developed in the modeling language Modelica. In a simulation, the proposed dynamic model is tested as a feedforward term in a control application and is found to improve the tracking performance considerably.

Published in:

Proceedings 2007 IEEE International Conference on Robotics and Automation

Date of Conference:

10-14 April 2007