A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters

DOI10.1016/J.MECHMACHTHEORY.2010.04.007zbMath1359.70014OpenAlexW2022751236WikidataQ58743126 ScholiaQ58743126MaRDI QIDQ994192

Álvaro Page, Ángel Valera, Vicente Mata, Miguel Díaz-Rodríguez

Publication date: 17 September 2010

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

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2010.04.007

zbMATH Keywords

inverse dynamicsforward dynamicsparallel robotsbase parametersdynamic parameter identification

Mathematics Subject Classification ID

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

Related Items (3)

Controller–observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system ⋮ Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism ⋮ Global identification of joint drive gains and dynamic parameters of parallel robots

Cites Work

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• Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control
• A finite element formulation for dynamic parameter identification of robot manipulators
• Friction models and friction compensation
• A survey of models, analysis tools and compensation methods for the control of machines with friction
• Identification of dynamic parameters of a 3-DOF RPS parallel manipulator
• Numerical calculation of the base inertial parameters of robots

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