Experimental dynamic identification of a fully parallel robot

A. Vivas; P. Poignet; F. Marquet; F. Pierrot; M. Gautier; IEEE

doi:10.1109/ROBOT.2003.1242096

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Experimental dynamic identification of a fully parallel robot

A. Vivas, P. Poignet, F. Marquet, F. Pierrot, M. Gautier et IEEE

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), Vol.3, pp.3278-3283 vol.3

2003

DOI: https://doi.org/10.1109/ROBOT.2003.1242096

Résumé

Acceleration

End effectors

Kinematics

Least squares approximation

Machining

Motion control

Parallel robots

Parameter estimation

Robot sensing systems

Solid modeling

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).

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Détails

Titre: Experimental dynamic identification of a fully parallel robot
Créateurs - sans rôle: A. Vivas - Lab. d'Inf., CNRS, Montpellier, France
P. Poignet - Lab. d'Inf., CNRS, Montpellier, France
F. Marquet - Lab. d'Inf., CNRS, Montpellier, France
F. Pierrot - Lab. d'Inf., CNRS, Montpellier, France
M. Gautier
IEEE
Détails de publication: 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), Vol.3, pp.3278-3283 vol.3
Éditeur: IEEE
Identifiants: 99156775709311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Mtp - LIRMM
Langue: English
Type de ressource: Conference proceeding