DocumentCode :
2349954
Title :
Ellipsoidal estimation of parallel robot dynamic parameters
Author :
Poignet, Philippe ; Ramdani, Nacim ; Vivas, Oscar Andres
Author_Institution :
Lab. d´´Inf., de Robotique et de Microelectron. de Montpellier, Univ. Montpellier II, France
Volume :
4
fYear :
2003
fDate :
27-31 Oct. 2003
Firstpage :
3300
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.
Keywords :
numerical stability; parameter estimation; robot dynamics; robot kinematics; torque motors; bounded error context; classical Lagrange equation; ellipsoidal method; four degrees-of-freedom; inverse dynamic model; linear parameters; motor torque; numerical stability; parallel robot dynamics; robust dynamic identification; Equations; Jacobian matrices; Kinematics; Lagrangian functions; Manipulators; Numerical stability; Parallel robots; Parameter estimation; Robustness; Solid modeling;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
Type :
conf
DOI :
10.1109/IROS.2003.1249665
Filename :
1249665
Link To Document :
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