Title :
Identification of the dynamic parameters of the Orthoglide
Author :
Guegan, Sylvain ; Khalil, Wisama ; Lemoine, Philippe
Author_Institution :
Ecole Centrale de Nantes, France
Abstract :
This paper presents the experimental identification of the dynamic parameters of the Orthoglide, a 3-DOF parallel mechanism. The dynamic identification model is based on the inverse dynamic model, which is linear in the parameters. The model is computed in a closed form in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The base inertial parameters of the robot, which constitute the identifiable parameters, are given.
Keywords :
Jacobian matrices; manipulator dynamics; manipulator kinematics; parameter estimation; 3DOF mechanism; Cartesian dynamic model elements; Newton-Euler equation; Orthoglide; dynamic identification model; inverse dynamic model; kinematic models; orthoglide parameter identification; robot inertial parameters; Equations; Friction; Inverse problems; Jacobian matrices; Kinematics; Least squares approximation; Leg; Matrix decomposition; Robots; Vectors;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242095
