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Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator

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Abstract

Kinematics with six degrees of freedom can be of several types. This paper describes the inverse dynamic model of a novel hybrid kinematics manipulator. The so-called Epizactor consists of two planar disk systems that together move a connecting element in 6 DOF. To do so each of the disk systems has a linkage point equipped with a homokinetic joint. Each disk system can be described as a serial 3-link planar manipulator with unlimited angles of rotation. To compensate singularities, a kinematic redundancy is introduced via a fourth link. The kinematic concept leads to several technical advantages for compact 6-DOF-manipulators when compared to established parallel kinematics: The ratio of workspace volume and installation space is beneficial, the number of kinematic elements is smaller, and rotating drives are used exclusively. For a singularity-robust control-approach, the inverse dynamic model is derived using the iterative Newton–Euler-method. Feasibility is shown by the application of the model to an example where excessive actuator velocities and torques are avoided.

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Author notes

  1. Peter Paul Pott

    Present address: Institute for Electromechanical Design, Technische Universität Darmstadt, Merckstrasse 25, 64283, Darmstadt, Germany

Authors and Affiliations

  1. Laboratory for Biomechanics and experimental Orthopaedics, Orthopaedic and Trauma Surgery Centre (OUZ), University Medical Centre Mannheim, Heidelberg University, Theodor-Kutzer-Ufer 1-3, 68167, Mannheim, Germany

    Peter Paul Pott & Markus L. R. Schwarz

  2. Automation Lab, Central Institute for Computer Engineering, Mannheim, University of Heidelberg, B6, 26 part B, 68131, Mannheim, Germany

    Achim Wagner & Essameddin Badreddin

  3. Institute for CAE Applications, Mannheim University of Applied Sciences, Windeckstrasse 110, 68163, Mannheim, Germany

    Hans-Peter Weiser

Authors
  1. Peter Paul Pott
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  2. Achim Wagner
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  3. Essameddin Badreddin
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  4. Hans-Peter Weiser
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  5. Markus L. R. Schwarz
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Correspondence to Peter Paul Pott.

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Pott, P.P., Wagner, A., Badreddin, E. et al. Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator. J Intell Robot Syst 63, 3–23 (2011). https://doi.org/10.1007/s10846-010-9464-1

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  • DOI: https://doi.org/10.1007/s10846-010-9464-1

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