Dynamic Parameter Identification of Over-actuated Parallel Robots - Archive ouverte HAL Access content directly
Journal Articles Journal of Dynamic Systems, Measurement, and Control Year : 2015

Dynamic Parameter Identification of Over-actuated Parallel Robots


Off-line robot dynamic identification methods are based on the use of the Inverse Dynamic Identification Model (IDIM), which calculates the joint forces/torques (estimated as the product of the known control signal (the input reference of the motor current loop) with the joint drive gains) that are linear in relation to the dynamic parameters, and on the use of the linear least squares technique to calculate the parameters (IDIM-LS technique). However, as actuation redundant parallel robots are over-actuated, their IDIM has an infinity of solutions for the force/torque prediction, depending on the value of the desired overconstraint that is a priori unknown in the identification process. As a result, the IDIM cannot be used as it is for such a class of parallel robots. This paper proposes a procedure for the dynamic parameter identification of actuation redundant parallel robots. The procedure takes advantage of two possible modified formulations for the IDIM of actuation redundant robots that can be used for identification purpose. The modified IDIM formulations project some or all input torques/forces onto the robot bodies, thus leading to a unique solution of the model that can then be used in the identification process. A systematic and straightforward way to compute these modified IDIM is presented. The identification of the inertial parameters of a planar parallel robot with actuation redundancy, the DualV, is then carried out using these modified IDIM. Experimental results show the validity of the methods.
Fichier principal
Vignette du fichier
BriotKrutGautier.pdf (1.23 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-01157978 , version 1 (24-06-2019)



Sébastien Briot, Sébastien Krut, Maxime Gautier. Dynamic Parameter Identification of Over-actuated Parallel Robots. Journal of Dynamic Systems, Measurement, and Control, 2015, 137 (11), pp.111002. ⟨10.1115/1.4030867⟩. ⟨hal-01157978⟩
135 View
87 Download



Gmail Facebook Twitter LinkedIn More