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On the Conditioning of the Observation Matrix for Dynamic Parameters Identification of Parallel Robots

  • Miguel Díaz-Rodriguez
  • Vicente Mata
  • Angel Valera
  • Sebastian Provenzano
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

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.

Keywords

Condition Number Dynamic Parameter Parallel Robot Passive Force Observation Matrix 
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

  • Miguel Díaz-Rodriguez
    • 1
  • Vicente Mata
    • 2
  • Angel Valera
    • 3
  • Sebastian Provenzano
    • 1
  1. 1.Departamento de Tecnología y Diseño, Facultad de IngenieríaUniversidad de los AndesMéridaVenezuela
  2. 2.Centro de Investigación en Tecnología de VehículosUniversidad Politécnica de ValenciaValenciaSpain
  3. 3.Departamento de Ingeniería y Sistemas y AutomáticaUniversidad Politécnica de Valencia460022Spain

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