{"entities":{"Q2225224":{"pageid":2235967,"ns":120,"title":"Item:Q2225224","lastrevid":57229224,"modified":"2026-03-27T13:40:21Z","type":"item","id":"Q2225224","labels":{"en":{"language":"en","value":"Load parameter identification for parallel robot manipulator based on extended Kalman filter"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7306952"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$D1F9197C-7858-4794-92EA-3C896F96C389","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"0699505ac644a00694eeeaf649829f1cb8ae1894","datavalue":{"value":{"text":"Load parameter identification for parallel robot manipulator based on extended Kalman filter","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2225224$F8E48FCB-3E27-47AD-A2DA-6DB48F9D14DD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"0decda244a2943c065920e33d5714567cac9ec24","datavalue":{"value":"1454.70003","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2225224$8509CB02-53CA-45C5-9D00-99E62F0CE7F0","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"420e708b38be5258a85a16c0a37b8bff48c804e9","datavalue":{"value":"10.1155/2020/8816374","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2225224$3BA12B5D-4992-4994-9BFE-15132E7E5A7C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"7c85cd4eed4ee13415b54201b44098577d4c3499","datavalue":{"value":{"entity-type":"item","numeric-id":2222893,"id":"Q2222893"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$3BB61053-BBC8-4E78-BD80-3FD5097CB2A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4be0b644726eaf4686765c84ce1038f68069ddb5","datavalue":{"value":{"entity-type":"item","numeric-id":2225222,"id":"Q2225222"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$1A2AB04C-1286-4C5C-B3A6-EB63A95A333A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6d69f16ac5654e98ec37e6a4e5f836480eaeb3ac","datavalue":{"value":{"entity-type":"item","numeric-id":2225223,"id":"Q2225223"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$B7561BFE-3E48-4F54-A7AB-8864E8B195C3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c97c0278462c4e216e0ec2dfc2cd0e1939f37839","datavalue":{"value":{"entity-type":"item","numeric-id":345518,"id":"Q345518"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$847F2E8D-4B78-40EC-91A4-B62DB01817B5","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"1dec05d6eca21826ddc25d78a5bfbbb3575f964c","datavalue":{"value":{"entity-type":"item","numeric-id":86231,"id":"Q86231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$FEEB323F-A512-492E-B689-DAD574223344","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c8ddc9dd3b2f15e15e482081abc9a59d597f2a8d","datavalue":{"value":{"time":"+2021-02-05T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2225224$91A96B1F-FA75-4D62-9CB6-503B4C396B08","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"91f387de90be897017cb734da62cca7dfc02b886","datavalue":{"value":"Summary: Load is the main external disturbance of a parallel robot manipulator. This disturbance will cause dynamic coupling among different degrees of freedom and make heaps of model-based control methods difficult to apply. In order to compensate this disturbance, it is crucial to obtain an accurate dynamic model of load. However, in practice, the load is always uncertain and its dynamic parameters are arduous to know a priori. To cope with this problem, this paper proposes a novel and simple approach to identify the dynamic parameters of load. Firstly, the dynamic model of the parallel robot manipulator with uncertain load is established and the dynamic coupling caused by load is also analyzed. Then, according to the dynamic model, the excitation signal is designed and a weak nonlinear dynamic model is derived. Furthermore, the identification model is presented and the identification algorithm based on the extended Kalman filter is designed. Lastly, numerical simulation results, obtained using a six-degree-of-freedom Gough-Stewart parallel manipulator, demonstrate the good estimation performance of the proposed method.","type":"string"},"datatype":"string"},"type":"statement","id":"Q2225224$FA122D5C-7BB1-4CAE-AFE4-5278CA75916D","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2225224$CEE613FA-A866-4F20-8FFA-B94C95B12450","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2225224$54349E78-AD3F-4C9B-B281-C007808D863D","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"1cc10add4037d8a9ecca0114a5404d532def0d72","datavalue":{"value":"7306952","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2225224$C4F308B8-E644-42D1-8175-9B9F07BDC1E8","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$EB9CE7D8-19CE-4516-A952-FA1F91E1F756","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"d079898df49482bebd6634c62ca0eacb931fe98a","datavalue":{"value":"https://doi.org/10.1155/2020/8816374","type":"string"},"datatype":"url"},"type":"statement","id":"Q2225224$647F59C0-E2BF-4D26-96EA-FD5F8ED712DA","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"1b478a31cd2d5ff02515915996ddc8712c93fcb7","datavalue":{"value":"W3110217318","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2225224$0D55DFE6-95A5-45E5-BDA9-A942E2CC8D1A","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"8787bd728031ea20701d945152d7490f17c82417","datavalue":{"value":{"entity-type":"item","numeric-id":481832,"id":"Q481832"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$8B409FB8-2757-4048-8138-BE77B84E5641","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ea2f5961dc42dd32ccabf4a1e7755713e9b6f54f","datavalue":{"value":{"entity-type":"item","numeric-id":2298131,"id":"Q2298131"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$5BF53094-9CB1-4277-AFA6-628F93ABAFD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b83b0cf7bc8acb215af9f4413039ffdcc14cc578","datavalue":{"value":{"entity-type":"item","numeric-id":2485193,"id":"Q2485193"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$86B2388F-0CAC-4E5C-A1D6-7F63CEC7F787","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6127ff887a3a23c7c22ae391e2b87a28e3f9bcf6","datavalue":{"value":{"entity-type":"item","numeric-id":2340343,"id":"Q2340343"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$352379CF-AED2-4E93-9331-076940F10EBC","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ca0fb98b8e161cb5e859e25dcd265685bbc144bc","datavalue":{"value":{"entity-type":"item","numeric-id":994192,"id":"Q994192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"db569ff0ece929e0214a5031544f10f91ba850c5","datavalue":{"value":{"amount":"+0.7597161531448364","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2225224$6500CA35-3E0F-4A6B-8F49-14452CC507C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c018a005dcc23abe866321c4319c44fa41b66f19","datavalue":{"value":{"entity-type":"item","numeric-id":4851171,"id":"Q4851171"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"09900582ab896f08013e690f5369fa4048f067ee","datavalue":{"value":{"amount":"+0.746475100517273","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2225224$58D56CD2-2A13-4FB0-BB5F-E467B8703ECF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1e7cb4d20587b8b38087e15175cb64114fa81cdb","datavalue":{"value":{"entity-type":"item","numeric-id":3061405,"id":"Q3061405"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"42bea8e7755313be649c5783b7532e126b2216a0","datavalue":{"value":{"amount":"+0.7458159923553467","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2225224$2F330AF4-6017-4A0C-A741-C56A1856240F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3ec6e94a30e936f4482e0b376df320351fc20f55","datavalue":{"value":{"entity-type":"item","numeric-id":3397221,"id":"Q3397221"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"46db445732831c7395dc2fbd7dad2c9ed74c4d73","datavalue":{"value":{"amount":"+0.7449466586112976","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2225224$C79CBBD5-C926-4A51-B138-EDB8DC4C4E7F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4fd3851a0a960f77058526a52309fe9e8afe10cd","datavalue":{"value":{"entity-type":"item","numeric-id":2340343,"id":"Q2340343"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8e7bfeb5723c95261afc15674fce1bcdc17de6ca","datavalue":{"value":{"amount":"+0.7362217307090759","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2225224$25312E64-727B-49D6-86A8-A7DD59692E27","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2225224$4C23D9E0-9C8D-4D8D-BA1B-0FCE436CD34F","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2225224","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2225224"}}}}}