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Dynamic Parameters Optimization and Identification of a Parallel Robot

Abstract : A common issue of the parallel robot is that has a large number of dynamic parameters, which requires a lot of processing time, whether in dynamic modeling, identification or control. The optimization and estimation of inertial parameters of a large DoF number of robotic system is crucial to tune the model-based control law in order to improve the robot accuracy. In this paper, we present an optimized number of dynamic parameters, called base inertial parameters. As a result, only 90 base inertial parameters affect the evr@ simulator instead of 210 standard one. Torque signals evaluation from experimental parallel platform and the developed analytical form show the effectiveness of the obtained results.
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Submitted on : Monday, September 30, 2019 - 2:44:44 PM
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Dynamic parameters optimizatio...
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  • HAL Id : hal-02180507, version 1


Taha Houda, Ali Amouri, Lotfi Beji, Malik Mallem. Dynamic Parameters Optimization and Identification of a Parallel Robot. Andrés Kecskeméthy; Francisco Geu Flores. Multibody Dynamics 2019, 53, Springer, pp.367-374, 2019, Computational Methods in Applied Sciences, 978-3-030-23131-6. ⟨hal-02180507⟩



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