IDENTIFICATION OF THE DYNAMIC PARAMETERS OF THE C5 PARALLEL ROBOT

B. Achili, B. Daachi, Y. Amirat, A. Ali-Cherif

Abstract

This paper deals with the experimental identification of the dynamic parameters of the C5 parallel robot. The inverse dynamic model of the robot is formulated under the form of linear equation with respect to the dynamic parameters. Moreover, a heuristic procedure for finding the exciting trajectory has been conducted. This trajectory is based on Fourier series whose coefficients are determined by using a heuristic method. The least squares method has been applied to solve an over-determined linear system which is obtained by sampling the dynamic model along the exciting trajectory. The experimental results show the effectiveness of the identification procedure.

References

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Paper Citation


in Harvard Style

Achili B., Daachi B., Amirat Y. and Ali-Cherif A. (2008). IDENTIFICATION OF THE DYNAMIC PARAMETERS OF THE C5 PARALLEL ROBOT . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 67-70. DOI: 10.5220/0001487300670070


in Bibtex Style

@conference{icinco08,
author={B. Achili and B. Daachi and Y. Amirat and A. Ali-Cherif},
title={IDENTIFICATION OF THE DYNAMIC PARAMETERS OF THE C5 PARALLEL ROBOT},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={67-70},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001487300670070},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - IDENTIFICATION OF THE DYNAMIC PARAMETERS OF THE C5 PARALLEL ROBOT
SN - 978-989-8111-31-9
AU - Achili B.
AU - Daachi B.
AU - Amirat Y.
AU - Ali-Cherif A.
PY - 2008
SP - 67
EP - 70
DO - 10.5220/0001487300670070