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Identification of the Dynamic Parameters of the Orthoglide

Abstract : 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.
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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⟩



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