Ellipsoidal estimation of parallel robot dynamic parameters

Author

Poignet, Philippe ; Ramdani, Nacim ; Vivas, Oscar Andres

Author_Institution

Lab. d´´Inf., de Robotique et de Microelectron. de Montpellier, Univ. Montpellier II, France

Volume

4

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

3300

Abstract

This paper presents the application of an ellipsoidal method for robust dynamic identification of parallel robots. The robot is modelled with classical Lagrange equation which leads to an inverse dynamic model linear with respect to the parameters. Assuming the error additive on input (motor torque), the problem is expressed in a bounded error context. The ellipsoidal method is applied in a factorised form in order to guarantee numerical stability. Experimental results are exhibited for a fully parallel robot with 4 degrees of freedom.

Keywords

numerical stability; parameter estimation; robot dynamics; robot kinematics; torque motors; bounded error context; classical Lagrange equation; ellipsoidal method; four degrees-of-freedom; inverse dynamic model; linear parameters; motor torque; numerical stability; parallel robot dynamics; robust dynamic identification; Equations; Jacobian matrices; Kinematics; Lagrangian functions; Manipulators; Numerical stability; Parallel robots; Parameter estimation; Robustness; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249665

Filename

1249665