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Communication Dans Un Congrès Année : 2012

Global Identification of Drive Gains and Dynamic Parameters of Parallel Robots - Part 2: Case Study

Résumé

Usually, identification models of parallel robots are simplified and take only the dynamics of the moving platform into account. Moreover the input efforts are estimated through the use of the manfucaturer's actuator drive gains that are not calibrated thus leading to identification errors. In this paper a systematic way to derive the full dynamic identification model of the Orthoglide parallel robot in combination with a method that allows the identification of both robot inertial parameters and drive gains.
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hal-00687697 , version 1 (25-06-2019)

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  • HAL Id : hal-00687697 , version 1

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Sébastien Briot, Maxime Gautier. Global Identification of Drive Gains and Dynamic Parameters of Parallel Robots - Part 2: Case Study. 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (ROMANSY 2012), Jun 2012, Paris, France. ⟨hal-00687697⟩
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