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Dynamic Parameter Identification for Parallel Manipulators InTech
Vicente Mata; Nidal Farhat; Miguel Diaz-Rodriguez; Angel Valera; Alvaro Page.
In this chapter, the problem of the identification of inertia and friction parameters for parallel manipulators was addressed. In the first part of the chapter an overview of the identification process applied to parallel manipulators was presented. First, the dynamic model was obtained in a systematic way starting from the Gibbs-Appell equations of motion. This dynamic model was reduced to a subset of parameters called base parameters by means of SVD. After that and to ensure the minimal input/output error transmissibility, approaches to obtaining optimized trajectories that have to be used in the identification process were presented. In the second part of the chapter, a direct identification approach was implemented on a 3-DOF RPS parallel manipulator...
Tipo: 2 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/dynamic_parameter_identification_for_parallel_manipulators
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