Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 1: Theory
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.
KeywordsDynamic Parameter Multibody System Parallel Robot Inertial Parameter Compute Torque Control
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