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

DOI10.1007/s11044-013-9403-6zbMath1391.70016OpenAlexW2103295417MaRDI QIDQ2340343

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

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

Related Items (3)

Controller–observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system ⋮ Load parameter identification for parallel robot manipulator based on extended Kalman filter ⋮ Degeneracy conditions of the dynamic model of parallel robots

Uses Software

• VanHuffel

Cites Work

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• Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control
• A robust testing procedure for the equality of covariance matrices
• Inverse and direct dynamic models of hybrid robots
• A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
• Parallel robots.
• Numerical calculation of the base inertial parameters of robots

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