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Modeling and Identification of the Gantry-Tau Parallel Kinematic Machine
Linköping University, Department of Electrical Engineering.
2007 (English)Independent thesis Basic level (professional degree), 20 points / 30 hpStudent thesis
Abstract [en]

This report presents work done in the field of modeling and identification of parallel kinematic machines. The results have been verified on the new Gantry-Tau prototype situated at the University of Queensland.

The inverse dynamic model for the 3-DOF Gantry-Tau has been validated and implemented to fit the new prototype. The present prototype enables 5-DOF of motion and a new model has been derived and the results are given.

Finally, an attempt to identify the parameters in the inverse dynamics models is presented. It turns out that the identification was not able to give accurate estimates.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2007. , 61 p.
Keyword [en]
Robotics, parallel, modeling, identification, Tau
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-8366ISRN: LITH-ISY-EX--07/3919--SEOAI: diva2:23177
2007-02-09, Algoritmen, 13:15
Available from: 2007-02-16 Created: 2007-02-16

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