Kinematic and Dynamic Identification of Parallel Mechanisms - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier
Journal Articles Control Engineering Practice Year : 2006

Kinematic and Dynamic Identification of Parallel Mechanisms

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.

Dates and versions

lirmm-00102629 , version 1 (02-10-2006)

Identifiers

Cite

Pierre Renaud, Oscar Andrès Vivas, Nicolas Andreff, Philippe Poignet, Philippe Martinet, et al.. Kinematic and Dynamic Identification of Parallel Mechanisms. Control Engineering Practice, 2006, 14 (9), pp.1099-1109. ⟨10.1016/j.conengprac.2005.06.011⟩. ⟨lirmm-00102629⟩
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