Journal of Robotic Systems · 1999 · 23 citations · 15 references
EngineeringMechanical EngineeringRobotics EngineeringRobot DynamicsRobot KinematicsRoboticsJacobian AnalysisJacobian MatricesKinematic ModelingManipulator ControlManipulator DynamicsRobot ManipulatorsDynamic Model DerivationDynamic ModelsGrindingHybrid Robot ArchitecturesManipulator KinematicsPosition ControlRobot Kinematic ModelingVelocity Control
In this article, we develop a hybrid robot manipulator for propeller grinding and derive its kinematic and dynamic models. The manipulator is constructed by combining a parallel mechanism and a serial one to increase high stiffness as well as workspace. Based on geometric constraints, inverse–direct kinematics and Jacobian are derived to be implemented in real time control. The velocity control is used to measure the surface of a propeller blade and the position control is conducted to grind the removal depth. The dynamic model, which is developed by a motor algebra, can compute the forces and moments acting at a passive joint and an active one. ©1999 John Wiley & Sons, Inc.
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