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 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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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⟩

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