Experimental dynamic identification of a fully parallel robot

Author

Vivas, Andres ; Poignet, Philippe ; Marquet, éFrédéric ; Pierrot, Franqois ; Gautier, M.

Author_Institution

Lab. d´´Inf., CNRS, Montpellier, France

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3278

Abstract

This paper deals with the experimental identification of the dynamic parameters of parallel machines. The dynamic parameters are estimated by using the weighted least squares solution of an over determined linear system obtained from the sampling of the dynamic model along a closed loop exciting trajectory. Experimental results are exhibited for the H4 robot, a fully parallel structure providing 3 degrees of freedom (DOF) in translation and 1 DOF in rotation. A comparative study is performed depending on the available measurements, i.e., different sensor locations (motor, end effector).

Keywords

end effectors; least mean squares methods; linear systems; manipulator dynamics; manipulator kinematics; parameter estimation; 3-DOF; closed loop exciting trajectory; end effector; least square methods; linear system; parallel machines; parallel robot dynamic identification; parameter estimation; Acceleration; End effectors; Kinematics; Least squares approximation; Machining; Motion control; Parallel robots; Parameter estimation; Robot sensing systems; Solid modeling;

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.2003.1242096

Filename

1242096