On the Conditioning of the Observation Matrix for Dynamic Parameters Identification of Parallel Robots
Parallel robots can be modelled as serial robots after cuttingopen the robot at some of its joints. Internal forces appear at joints which have been cut open. In this paper, the coordinate partitioning method and the velocity projection method are employed to make the internal forces disappear such that a dynamic parameter identification model can be obtained in terms of generalized independent coordinates. The influence of these methods for obtaining the identification model when exciting trajectories are used for experiments is investigated. In addition, the effect of the parameter identification solution is also considered.
KeywordsCondition Number Dynamic Parameter Parallel Robot Passive Force Observation Matrix
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