Identification of dynamic parameters of a 3-DOF RPS parallel manipulator

DOI10.1016/j.mechmachtheory.2006.12.011zbMath1334.70007OpenAlexW2031704815MaRDI QIDQ2463579

Álvaro Page, Nidal Farhat, Vicente Mata, Francisco J. Valero

Publication date: 14 December 2007

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2006.12.011

zbMATH Keywords

frictionparallel robotsdynamic parameters identification

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

Related Items

Determination of the symbolic base inertial parameters of planar mechanisms, Kinematic/dynamic analysis and optimization of a 2-URR-RRU parallel manipulator, Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism, A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters, Kinematics comparative study of two overconstrained parallel manipulators, Motion equations of cooperative multi flexible mobile manipulator via recursive Gibbs-Appell formulation

Uses Software

• NLPQL

Cites Work

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• Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control
• Friction models and friction compensation
• The kinematics and the full minimal dynamic model of a 6-DOF parallel robot manipulator
• Numerical calculation of the base inertial parameters of robots
• The explicit Gibbs-Appell equation and generalized inverse forms