Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
700468 | Control Engineering Practice | 2006 | 11 Pages |
Abstract
In this paper, we provide a comprehensive method to perform the physical model identification of parallel mechanisms. This includes both the kinematic identification using vision and the identification of the dynamic parameters. A careful attention is given to the issues of identifiability and excitation. Experimental results obtained on a H4 parallel robot show that kinematic identification yields an improvement in the static positioning accuracy from some 1 cm down to 1 mm, and that dynamic parameters are globally estimated with less than 10% relative error yielding a similar error on the control torque estimation.
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Authors
Pierre Renaud, Andres Vivas, Nicolas Andreff, Philippe Poignet, Philippe Martinet, François Pierrot, Olivier Company,