@article{727859,
      recid = {727859},
      author = {Briot, Sébastien, and Khalil, W.},
      title = {Dynamics of parallel robots from rigid bodies to flexible  elements / [electronic resource] :},
      pages = {1 online resource.},
      abstract = {This book starts with a short recapitulation on basic  concepts, common to any types of robots (serial, tree  structure, parallel, etc.), that are also necessary for  computation of the dynamic models of parallel robots. Then,  as dynamics requires the use of geometry and kinematics,  the general equations of geometric and kinematic models of  parallel robots are given. After, it is explained that  parallel robot dynamic models can be obtained by  decomposing the real robot into two virtual systems: a  tree-structure robot (equivalent to the robot legs for  which all joints would be actuated) plus a free body  corresponding to the platform. Thus, the dynamics of rigid  tree-structure robots is analyzed and algorithms to obtain  their dynamic models in the most compact form are given.  The dynamic model of the real rigid parallel robot is  obtained by closing the loops through the use of the  Lagrange multipliers. The problem of the dynamic model  degeneracy near singularities is treated and optimal  trajectory planning for crossing singularities is proposed.  Lastly, the approach is extended to flexible parallel  robots and the algorithms for computing their symbolic  model in the most compact form are given. All theoretical  developments are validated through experiments.},
      url = {http://library.usi.edu/record/727859},
}