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A Newton-Euler formulation for the inverse dynamics of the Stewart platform manipulator. (English) Zbl 1052.70529
Summary: This paper presents an inverse dynamic formulation by the Newton-Euler approach for the Stewart platform manipulator of the most general architecture and models all the dynamic and gravity effects as well as the viscous friction at the joints. It is shown that a proper elimination procedure results in a remarkably economical and fast algorithm for the solution of actuator forces, which makes the method quite suitable for on-line control purposes. In addition, the parallelism inherent in the manipulator and in the modelling makes the algorithm quite efficient in a parallel computing environment, where it can be made as fast as the corresponding formulation for the 6-dof serial manipulator. The formulation has been implemented in a program and has been used for a few trajectories planned for a test manipulator. Results of simulation presented in the paper reveal the nature of the variation of actuator forces in the Stewart platform and justify the dynamic modelling for control.

MSC:
70E60Robot dynamics and control (dynamics of a rigid body and of multibody systems)
70-08Computational methods (mechanics of particles and systems)