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Experimental identification of the dynamics model for 6-DOF parallel manipulators

Published online by Cambridge University Press:  22 May 2009

Houssem Abdellatif  and
Bodo Heimann
Houssem Abdellatif*
Affiliation:
Institute of Mechatronic Systems (former Institute of Robotics), Appelstr. 11, D-30167 Hannover, Germany
Bodo Heimann
Affiliation:
Institute of Mechatronic Systems (former Institute of Robotics), Appelstr. 11, D-30167 Hannover, Germany
*
*Corresponding author. E-mail: houssem.abdellatif@imes.uni-hannover.de
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Summary

The paper presents a self-contained approach for the dynamics identification of six degrees of freedom (DOF) parallel robots. Major feature is the consequent consideration of structural properties of such machines to provide an experimentally adequate identification method. The known periodic excitation is modified and enhanced to take the actuator coupling as well as the numerical solution of the direct kinematics into account. The benefits of explicit frequency-domain data filtering are demonstrated. Additionally, a new implementation of the maximum-likelihood estimator allows for automatic tuning of the data filter. The issue of optimal input experiment design is also discussed and substantiated with extensive experiments.

Keywords

Parallel manipulatorsDynamicsIdentificationOptimal experiment design
Type
Article
Information
Robotica , Volume 28 , Issue 3 , May 2010 , pp. 359 - 368
Copyright
Copyright © Cambridge University Press 2009

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