Dynamic Parameters Optimization and Identification of a Parallel Robot

Taha Houda 1 Ali Amouri 1 Lotfi Beji 1 Malik Mallem 1
1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
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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UNIV-EVRY | IBISC | IBISC-IRA2 | UNIV-PARIS-SACLAY

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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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