Dynamic Parameter Identification of Actuation Redundant Parallel Robots: Application to the DualV

Sébastien Briot (1) , Maxime Gautier (1) , Sébastien Krut (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 DEXTER - Robotique médicale et mécanismes parallèles

Off-line robot dynamic identification methods are based on the use of the Inverse Dynamic Identification Model (IDIM), which calculates the joint forces/torques (estimated as the product of the known control signal - the input reference of the motor current loop - by the joint drive gains) that are linear in relation to the dynamic parameters, and on the use of linear least squares technique to calculate the parameters (IDIM-LS technique). However, as actuation redundant parallel robots are over-constrained, their IDIM has infinity of solutions for the force/torque prediction, depending on the value of the desired overconstraint that is a priori unknown in the identification process. As a result, the IDIM cannot be used as it. This paper proposes a modified formulation for the IDIM of actuation redundant robots that can be used for identification purpose. This formulation consists of projecting the input torques/forces on the platform coordinates, thus leading to a unique solution of the model that can thus be used in the identification process. The identification of the inertial parameters of a planar parallel robot with actuation redundancy, the DualV, is then carried out using this modified IDIM. Experimental results show the validity of the method.

Domaines: Robotique [cs.RO]

Sébastien Briot, Maxime Gautier, Sébastien Krut. Dynamic Parameter Identification of Actuation Redundant Parallel Robots: Application to the DualV. AIM: Advanced Intelligent Mechatronics, Jul 2013, Wollongong, Australia. pp.637-643, ⟨10.1109/AIM.2013.6584164⟩. ⟨hal-00818104⟩