Skip to Main content Skip to Navigation
Journal articles

Inverse and Direct Dynamic Modeling of Gough-Stewart Robots

Abstract : This paper presents closed form solutions for the inverse and direct dynamic models of the Gough-Stewart parallel robot. The models are obtained in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The final form has an interesting and intuitive physical interpretation. The base inertial parameters of the robot, which constitute the minimum number of inertial parameters, are explicitly determined. The number of operations to compute the inverse and direct dynamic models are given.
Document type :
Journal articles
Complete list of metadata

Cited literature [35 references]  Display  Hide  Download
Contributor : Wisama Khalil Connect in order to contact the contributor
Submitted on : Monday, July 6, 2009 - 4:44:09 AM
Last modification on : Wednesday, September 22, 2021 - 3:17:05 AM
Long-term archiving on: : Tuesday, June 15, 2010 - 7:27:21 PM


Files produced by the author(s)


  • HAL Id : hal-00401751, version 1



Wisama Khalil, Sylvain Guegan. Inverse and Direct Dynamic Modeling of Gough-Stewart Robots. IEEE Transactions on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 2004, 20 (4), pp.754-762. ⟨hal-00401751⟩



Record views


Files downloads