Skip to Main content Skip to Navigation
Conference papers

Dynamic parameters optimization of a Gough-Stewart Platform mounted on a 2-DOF moving base

Abstract : A common issue of the parallel robot is that has a large number of dynamicparameters, which requires a lot of processing time, whether in dynamic modeling,identification or control. The optimization and estimation of inertial parametersof a large DoF number of robotic system is crucial to tune the model-basedcontrol law in order to improve the robot accuracy. In this paper, we present an optimizednumber of dynamic parameters, called base inertial parameters. As a result,only 90 base inertial parameters affect the evr@ simulator instead of 210 standardone. Torque signals evaluation from experimental parallel platform and the developedanalytical form show the effectiveness of the obtained results.
Document type :
Conference papers
Complete list of metadatas

Cited literature [4 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-02299878
Contributor : Frédéric Davesne <>
Submitted on : Saturday, September 28, 2019 - 7:15:58 PM
Last modification on : Monday, July 6, 2020 - 5:56:38 PM
Long-term archiving on: : Monday, February 10, 2020 - 8:07:21 AM

File

ECCOMAS_Resume_etendue.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02299878, version 1

Collections

Citation

Taha Houda, Ali Amouri, Lotfi Beji, Malik Mallem. Dynamic parameters optimization of a Gough-Stewart Platform mounted on a 2-DOF moving base. 9th ECCOMAS Thematic Conference on Multibody Dynamics, Jul 2019, Duisburg, Germany. ⟨hal-02299878⟩

Share

Metrics

Record views

85

Files downloads

66