A comparative study of two inverse dynamic models of 6 degree-of-freedom rotary Stewart-Gough parallel robot

6-RSS Stewart-Gough parallel robot consists of six articulated legs that connect its base and movable plates, forming a fully parallel 6DOF manipulator. The general structure of this manipulator is studied in this paper. The main contribution of this paper is deriving two complete inverse dynamic models (IDMs) in full details by employing both Lagrangian and Newton–Euler approaches for obtaining the torques applied by the active joint actuators to achieve the desired trajectory and orientation of the movable plate. Both IDMs have been derived with the assumption that each rod’s mass is homogenous and condensed in its extreme points. The models have been validated by comparing their results with the results of the model built using Simscape multi-body for three scenarios. Results revealed that the relative root-mean-square error is better than 0.57% and 0.65%, respectively, for the Lagrangian model and the Newton–Euler model. While the error of both models is within the same range, the advantage of the Newton–Euler approach is that its calculations are faster than that of the Lagrangian approach in the simulation environment, making it probably more applicable in real-time applications, and that it results in a closed-form model making it more appropriate to be linearized and employed for linear control systems.