HyRoDyn: A Modular Software Framework for Solving Analytical Kinematics and Dynamics of Series-Parallel Hybrid RobotsShivesh Kumar; Kai von Szadkowski; Andreas Müller; Frank Kirchner
In: Poster at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2018), October 1-5, Madrid, Spain, Pages 1-1, IROS Poster proceedings, IEEE/RSJ, USA, 10/2018.
Parallel mechanisms (PM) are increasingly being used as modular subsystem units in various robotic systems for their superior stiffness, payload-to-weight ratio and dynamic properties. This leads to series-parallel hybrid robotic systems which are difficult to model and control due to the presence of various closed loops. Most model based kinematic and dynamic modeling tools resolve loop closure constraints numerically and hence suffer from inefficiency and accuracy issues. They also do not exploit the modularity in robot design. We present the concept of a modular software framework, called Hybrid Robot Dynamics (HyRoDyn), for solving the kinematics and dynamics of series-parallel hybrid robots analytically.