Journal
CONTROL ENGINEERING PRACTICE
Volume 14, Issue 9, Pages 1099-1109Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2005.06.011
Keywords
physical model identification; kinematic identification; kinematic calibration; inertial and friction parameters; parallel mechanisms; computer vision
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In this paper, we provide a comprehensive method to perform the physical model identification of parallel mechanisms. This includes both the kinematic identification using vision and the identification of the dynamic parameters. A careful attention is given to the issues of identifiability and excitation. Experimental results obtained on a H4 parallel robot show that kinematic identification yields an improvement in the static positioning accuracy from some 1 cm down to 1 mm, and that dynamic parameters are globally estimated with less than 10% relative error yielding a similar error on the control torque estimation. (c) 2005 Elsevier Ltd. All rights reserved.
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