Identification of dynamic parameters of a 3-DOF RPS parallel manipulator | Semantic Scholar (2024)

The dynamic and friction parameters of a redundantly actuated parallel manipulator are identified by using the Weighted Least Square (WLS) method and the torques of the active joints is calculated by the estimated parameters and the nominal parameters, respectively.

This study proposed a novel approach for the offline dynamic parameter identification of parallel kinematics mechanisms in which the friction is significant and varying, and the static and Coulomb friction parameters are identified as coefficients instead of forces.

The development of a dynamic linear model of a 3UPS+1RPU parallel robot for knee rehabilitation, which allows the reduction of the error with respect to simulation carried out based on its non-linear model.

A reduced model based on a set of relevant parameters is obtained following a novel approach that considers a simplified dynamic model with a physically feasible set of parameters, allowing real-time control of a 3-DOF prismatics-revolute-spherical parallel manipulator.

An approach to obtain the nonlinear dynamics equations of motion of a 3-RRcP spherical parallel manipulator is presented, based on the principle of virtual power and the screw theory, which proposes an influence matrix which relates the passive joint rates to the actuated joint rates for each branch.

This paper addresses the identifiability of the dynamic parameters of a class of parallel robot, in the presence of noise in measurement and discrepancy in modeling, by means of a simulated robot and over an actual parallel 3-RPS robot.

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The set of physically feasible dynamic parameters is used in an integration of the equations of motion of the robot and the results of the simulation are compared with the robot actual movement.

A sufficient condition for the inertial matrix to be positive definite for each configuration of the manipulators is given by use of physical inertial parameters of the links composing the manipulator and a scheme is given to judge if a set of base-parameter values determine the inertials matrix toBe always positive definite or not.

A new experimental robot load identification method that is used in industry based on periodic robot excitation and the maximum likelihood estimation of the parameters, techniques adopted from Swevers et al.

The inverse geometric model is used for dynamic modeling of serial robots and the dynamic control law in the task space is compared to the Lyapunov theory for dynamic control of passive systems.

Application of the method for the identification of the CRS A465 industrial robot proves the validity of the proposed approach to the parameterization of robot excitation trajectories based on a combined Fourier series and polynomial functions.

An algorithm is presented for the identification of the inertial parameters and friction coefficients of robots that is based on the energy theorem, is linear in the robot parameters, and is easy to calculate.

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