Skip to Main content Skip to Navigation
Conference papers

Ellipsoidal Estimation of Parallel Robot Dynamic Parameters

Philippe Poignet 1 Nacim Ramdani 2 Oscar Andrès Vivas 3
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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 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 factorised form in order to guarantee numerical stability. Experimental results are exhibited for a fully parallel robot with 4 degrees of freedom.
Document type :
Conference papers
Complete list of metadata

Cited literature [13 references]  Display  Hide  Download

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00269729
Contributor : Christine Carvalho de Matos <>
Submitted on : Tuesday, November 6, 2018 - 8:57:11 PM
Last modification on : Tuesday, March 9, 2021 - 5:09:25 PM
Long-term archiving on: : Thursday, February 7, 2019 - 5:05:18 PM

File

256_ellipsoidal.pdf
Publisher files allowed on an open archive

Identifiers

Collections

Citation

Philippe Poignet, Nacim Ramdani, Oscar Andrès Vivas. Ellipsoidal Estimation of Parallel Robot Dynamic Parameters. IROS: Intelligent Robots and Systems, Oct 2003, Las Vegas, NV, United States. pp.3300-3305, ⟨10.1109/IROS.2003.1249665⟩. ⟨lirmm-00269729⟩

Share

Metrics

Record views

171

Files downloads

240