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Published in:
2020 | OriginalPaper | Chapter
Dynamic Parameters Optimization and Identification of a Parallel Robot
Authors : Taha Houda, Ali Amouri, Lotfi Beji, Malik Mallem
Published in: Multibody Dynamics 2019
Publisher: Springer International Publishing
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Abstract
A common issue of the parallel robot is that has a large number of dynamic parameters, which requires a lot of processing time, whether in dynamic modeling, identification or control. The optimization and estimation of inertial parameters of a large DoF number of robotic system is crucial to tune the model-based control law in order to improve the robot accuracy. In this paper, we present an optimized number of dynamic parameters, called base inertial parameters. As a result, only 90 base inertial parameters affect the evr@ simulator instead of 210 standard one. Torque signals evaluation from experimental parallel platform and the developed analytical form show the effectiveness of the obtained results.