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Book sections
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.
Cited literature [9 references]
https://hal.archives-ouvertes.fr/hal-02180507
Contributor : Frédéric Davesne <>
Submitted on : Monday, September 30, 2019 - 2:44:44 PM
Last modification on : Monday, July 6, 2020 - 5:56:32 PM
Long-term archiving on: : Monday, February 10, 2020 - 9:03:58 AM
Contributor : Frédéric Davesne <>
Submitted on : Monday, September 30, 2019 - 2:44:44 PM
Last modification on : Monday, July 6, 2020 - 5:56:32 PM
Long-term archiving on: : Monday, February 10, 2020 - 9:03:58 AM
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Dynamic parameters optimizatio...
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