DocumentCode
2244841
Title
Identification of the dynamic parameters of the Orthoglide
Author
Guegan, Sylvain ; Khalil, Wisama ; Lemoine, Philippe
Author_Institution
Ecole Centrale de Nantes, France
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
3272
Abstract
This paper presents the experimental identification of the dynamic parameters of the Orthoglide, a 3-DOF parallel mechanism. The dynamic identification model is based on the inverse dynamic model, which is linear in the parameters. The model is computed in a closed form in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The base inertial parameters of the robot, which constitute the identifiable parameters, are given.
Keywords
Jacobian matrices; manipulator dynamics; manipulator kinematics; parameter estimation; 3DOF mechanism; Cartesian dynamic model elements; Newton-Euler equation; Orthoglide; dynamic identification model; inverse dynamic model; kinematic models; orthoglide parameter identification; robot inertial parameters; Equations; Friction; Inverse problems; Jacobian matrices; Kinematics; Least squares approximation; Leg; Matrix decomposition; Robots; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242095
Filename
1242095
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