Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Dynamic Models of Spherical Parallel Robots for Model-Based Control
  Schemes   In this paper, derivation of different forms of dynamic formulation of
spherical parallel robots (SPRs) is investigated. These formulations include
the explicit dynamic forms, linear regressor, and Slotine-Li (SL) regressor,
which are required for the design and implementation of the vast majority of
model-based controllers and dynamic parameters identification schemes. To this
end, the implicit dynamic of SPRs is first formulated using the principle of
virtual work in task-space, and then by using an extension, their explicit
dynamic formulation is derived. The dynamic equation is then analytically
reformulated into linear and S-L regression form with respect to the inertial
parameters, and by using the Gauss-Jordan procedure, it is reduced to a unique
and closed-form structure. Finally, to illustrate the effectiveness of the
proposed method, two different SPRs, namely, the ARAS-Diamond, and the 3-RRR,
are examined as the case studies. The obtained results are verified by using
the MSC-ADAMS software, and are shared to interested audience for public
access.

28
The categories of this paper are: alg-geom
16
The categories of this paper are: stat
7
The categories of this paper are: hep-th
2
The categories of this paper are: math
31
The categories of this paper are: ao-sci
22
The categories of this paper are: chao-dyn
30
The categories of this paper are: q-alg
4
The categories of this paper are: cond-mat
26
The categories of this paper are: bayes-an
23
The categories of this paper are: solv-int
25
The categories of this paper are: patt-sol
0
The categories of this paper are: hep-ph
29
The categories of this paper are: funct-an
13
The categories of this paper are: quant-ph
24
The categories of this paper are: dg-ga
3
The categories of this paper are: physics