Global identification of joint drive gains and dynamic parameters of parallel robots

DOI10.1007/S11044-013-9403-6MaRDI QIDQ2340343zbMATH OpenOpenAlexFDO

Authors Sébastien Briot, Maxime Gautier

Publication date 16 April 2015

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-013-9403-6

zbMATH Keywords

total least squaresparallel robotdrive gainsforce calibrationinertial parameters identification

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 51511 (Why is no real title available?)
• scientific article; zbMATH DE number 1873665 (Why is no real title available?)
• A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
• A robust testing procedure for the equality of covariance matrices
• Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control
• Inverse and direct dynamic models of hybrid robots
• Numerical calculation of the base inertial parameters of robots
• Parallel robots.

Cited in

(9)

• Load parameter identification for parallel robot manipulator based on extended Kalman filter
• Degeneracy conditions of the dynamic model of parallel robots
• A multicriteria approach for optimal trajectories in dynamic parameter identification of parallel robots
• A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
• Dynamics analysis, offline-online tuning and identification of base inertia parameters for the 3-DOF delta parallel robot under insufficient excitations
• Joint robot dynamics model identification based on artificial bee colony algorithm
• Determination of the dynamic parameters of the planar robot with 2 degrees of freedom by the method of least squares and instrumental variables
• Dynamic parameter identification of parallel robots starting from the measurement of joints position and forces
• Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system

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Uses Software

• VanHuffel

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