Matches in SemOpenAlex for { <https://semopenalex.org/work/W3202057942> ?p ?o ?g. }
- W3202057942 abstract "In this paper, derivation of different forms of dynamic formulation of spherical parallel robots (SPRs) is investigated. These formulations include the explicit dynamic forms, linear regressor, and Slotine-Li (SL) regressor, which are required for the design and implementation of the vast majority of model-based controllers and dynamic parameters identification schemes. To this end, the implicit dynamic of SPRs is first formulated using the principle of virtual work in task-space, and then by using an extension, their explicit dynamic formulation is derived. The dynamic equation is then analytically reformulated into linear and S-L regression form with respect to the inertial parameters, and by using the Gauss-Jordan procedure, it is reduced to a unique and closed-form structure. Finally, to illustrate the effectiveness of the proposed method, two different SPRs, namely, the ARAS-Diamond, and the 3-RRR, are examined as the case studies. The obtained results are verified by using the MSC-ADAMS software, and are shared to interested audience for public access." @default.
- W3202057942 created "2021-10-11" @default.
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- W3202057942 date "2021-10-01" @default.
- W3202057942 modified "2023-09-27" @default.
- W3202057942 title "Dynamic Models of Spherical Parallel Robots for Model-Based Control Schemes." @default.
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