liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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
Identifiers
URN: urn:nbn:se:liu:diva-8366ISRN: LITH-ISY-EX--07/3919--SEOAI: oai:DiVA.org:liu-8366DiVA: diva2:23177
Presentation
2007-02-09, Algoritmen, 13:15
Uppsok
teknik
Supervisors
Examiners
Available from: 2007-02-16 Created: 2007-02-16

Open Access in DiVA

fulltext(1231 kB)424 downloads
File information
File name FULLTEXT01.pdfFile size 1231 kBChecksum SHA-1
5afbb7136529950bb78273dd52cbb8aa0db4bdb10c3b2d3fdba4b2b319bcba34c27e6faa
Type fulltextMimetype application/pdf

By organisation
Department of Electrical Engineering
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 424 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 503 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf