Dynamics of Parallel Robots by Sébastien Briot & Wisama Khalil

Author:Sébastien Briot & Wisama Khalil
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

(8.149)

(8.150)

(8.151)

In these equations, the matrices and are still square and invertible, as long as the robot does not encounter any singularity. Thus, they can be inverted to compute the value of the Lagrange multipliers and . As a result, from (8.151), we obtain

(8.152)

Then, introducing (8.152) into (8.149), we find

(8.153)

from which we can get the value of as

(8.154)

Finally, introducing (8.152) and (8.154) into (8.150), we obtain

(8.155)

Then, expanding and rearranging, we get

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