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Experimental Parallel Robot Dynamic Model Evaluation with Set Membership Estimation

Nacim Ramdani 1, 2 Philippe Poignet 3
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents the application of an ellipsoidal method for experimental robust dynamic identification of parallel robots. The robot is modelled with classical Lagrange equation which leads to an inverse dynamic model linear with respect to the parameters. Assuming the error additive on input (motor torque), the problem is expressed in a bounded error context. The ellipsoidal method is applied in a factorized form in order to guarantee numerical stability. Two friction models are evaluated via set membership identification from experimental data. Results are exhibited for a fully parallel robot with 4 degrees of freedom.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00119385
Contributor : Nacim Ramdani <>
Submitted on : Friday, December 8, 2006 - 10:31:46 PM
Last modification on : Monday, March 30, 2020 - 4:30:07 PM

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  • HAL Id : lirmm-00119385, version 1

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Nacim Ramdani, Philippe Poignet. Experimental Parallel Robot Dynamic Model Evaluation with Set Membership Estimation. SYSID'06: 14th IFAC Symposium on System Identification, 2006, pp.967-972. ⟨lirmm-00119385⟩

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