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

Experimental dynamic identification of a fully parallel robot

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5 Author(s)
Vivas, A. ; Lab. d''Inf., CNRS, Montpellier, France ; Poignet, P. ; Marquet, F. ; Pierrot, F.
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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).

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

Date of Conference: 14-19 Sept. 2003

Page(s):
3278 - 3283 vol.3
ISSN :
1050-4729
Print ISBN:
0-7803-7736-2
INSPEC Accession Number:
7906605
Digital Object Identifier :
10.1109/ROBOT.2003.1242096
Product Type:
Conference Publications

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