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Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 1: Theory

  • Sébastien Briot
  • Maxime Gautier
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

Most of the papers dealing with the dynamic parameters identification of parallel robots are based on simple models, which take only the dynamics of the moving platform into account. Moreover the actuator drive gains are not calibrated which leads to identification errors. In this paper a systematic way to derive the full dynamic identification model of parallel robots is proposed in combination with a method that allows the identification of both robot inertial parameters and drive gains.

Keywords

Dynamic Parameter Multibody System Parallel Robot Inertial Parameter Compute Torque Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Sébastien Briot
    • 1
  • Maxime Gautier
    • 1
    • 2
  1. 1.Institut de Recherche en Communications et Cybernétique de NantesNantesFrance
  2. 2.LUNAMUniversité de NantesNantesFrance

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