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Accuracy of kinematic and dynamic models of a Gantry-Tau parallel kinematic robot

Publiceringsår: 2007
Språk: Engelska
Sidor: 883-888
Publikation/Tidskrift/Serie: 2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


In this article, a new kinematic and a dynamic model for a 3-degree-of-freedom Gantry-Tau parallel kinematic robot are presented. Similar to an earlier proposed kinematic model, the dynamic model is based on the assumption of parallel actuator axes and constant end-effector orientation. The new kinematic model takes into account rotations of actuator axes which do not affect the end-effector orientation. Results from a calibration experiment show an improved positioning accuracy of the new kinematic model. A more general model of the robot including possible geometric inaccuracies causing deviations from the model assumptions has been developed in the modeling language Modelica. In a simulation, the proposed dynamic model is tested as a feedforward term in a control application and is found to improve the tracking performance considerably.


  • Control Engineering
  • kinematic model
  • dynamic model
  • Gantry-Tau parallel kinematic robot
  • Modelica


IEEE International Conference on Robotics and Automation, 2007
  • ISSN: 1050-4729
  • ISSN: 2152-4092

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