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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.
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on (Volume:3 )
Date of Conference: 14-19 Sept. 2003