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Browse Conference Publications > Robotics and Automation, 2003 ... Help

Identification of the dynamic parameters of the Orthoglide

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3 Author(s)
Guegan, S. ; Ecole Centrale de Nantes, France ; Khalil, W. ; Lemoine, P.

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.

Published in:
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference: 14-19 Sept. 2003

Page(s):
3272 - 3277 vol.3
ISSN :
1050-4729
Print ISBN:
0-7803-7736-2
INSPEC Accession Number:
7906604
Digital Object Identifier :
10.1109/ROBOT.2003.1242095
Product Type:
Conference Publications

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