2024
A Numerical Approximation Approach for Deriving Computational Efficient Inverse Dynamics of 6-DOF Parallel Robots Based on Principle of Virtual Work
RA-L 2024
The inverse dynamics of the six degree-of-freedom (6-DOF) parallel robot (PR) presents an inherent complexity due to the closed-loop kinematic chains. To derive computational efficient inverse dynamics for real-time control, this study presents a numerical approximation (NA) approach based on the pr