<p>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.</p><p>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.</p><p>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.</p>
| Identifer | oai:union.ndltd.org:UPSALLA/oai:DiVA.org:liu-8366 |
| Date | January 2007 |
| Creators | Lyzell, Christian |
| Publisher | Linköping University, Department of Electrical Engineering, Institutionen för systemteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, text |
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