Identification of the Dynamic Parameters of the Orthoglide

Sylvain Guegan (1) , Wisama Khalil (1) , Philippe Lemoine (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. 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.

Mots clés: Robots parallèles; modélisation dynamique inverse; identification dynamique

Domaines: Automatique / Robotique

Sylvain Guegan, Wisama Khalil, Philippe Lemoine. Identification of the Dynamic Parameters of the Orthoglide. IEEE International Conference on Robotics and Automation - ICRA 2003, Sep 2003, Taipei, Taiwan. pp. 3272-3277, ⟨10.1109/ROBOT.2003.1242095⟩. ⟨hal-00362674⟩