Global Identification of Drive Gains and Dynamic Parameters of Parallel Robots - Part 2: Case Study
Overview & Synopsis
Usually, identification models of parallel robots are simplified and take only the dynamics of the moving platform into account. Moreover the input efforts are estimated through the use of the manfucaturer's actuator drive gains that are not calibrated thus leading to identification errors. In this paper a systematic way to derive the full dynamic identification model of the Orthoglide parallel robot in combination with a method that allows the identification of both robot inertial parameters and drive gains.
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hal.science)
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Document Information
| Document Title | Global Identification of Drive Gains and Dynamic Parameters of Parallel Robots - Part 2: Case Study |
|---|---|
| Author / Organization | Sébastien Briot, Maxime Gautier |
| Subject & Discipline | Multidisciplinary Academic Open Research |
| Categories | Science & Mathematics |
| Publication Year | 2012 |
| License / Rights | Open Access / Creative Commons |
| Resource Verification | Listed PDF (Verification Pending) |
| Original Host Website |
HAL Open Science
(hal.science)
|
| File Format | application/pdf (Portable Document Format) |
| Language | EN |
| Catalog ID | DOC-5170 |
| Original Source Link | Visit Source Page on hal.science » |