Identification of the dynamic parameters of the C5 parallel robot

被引：0

作者：

Achili, B. ^{[1
]}

Daachi, B. ^{[2
]}

Amirat, Y. ^{[2
]}

All-Cherif, A. ^{[1
]}

机构：

[1] Lab Images Signaux & Syst Intelligent, 122-124 Rue Paul Armangot, F-94400 Vitry Sur Seine, France

[2] Signaux Syst Intelligents, Lab Images, F-93526 St Denis, France

来源：

ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2 | 2008年

关键词：

identification; parallel robot; least squares method; cross validation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the experimental identification of the dynamic parameters of the C5 parallel robot. The inverse dynamic model of the robot is formulated under the form of linear equation with respect to the dynamic parameters. Moreover, a heuristic procedure for finding the exciting trajectory has been conducted. This trajectory is based on Fourier series whose coefficients are determined by using a heuristic method. The least squares method. has been applied to solve an over-determined linear system which is obtained by sampling the dynamic model along the exciting trajectory. The experimental results show the effectiveness of the identification procedure.

引用

页码：67 / +

页数：2

共 8 条

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