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

Taha Houda (1) , Ali Amouri (1) , Lotfi Beji (1) , Malik Mallem (1)

1 IBISC - Informatique, BioInformatique, Systèmes Complexes

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.

Domains: Automatic

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⟩