A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters

[EN] The identification of the dynamic parameters in mechanical systems is important for improving model-based control and performing realistic dynamic simulations. Generally, when identification techniques are applied, only a subset of parameters so-called base parameters can be identified. Moreove...

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Autores: Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957, Mata Amela, Vicente|||0000-0003-2255-0567, Valera Fernández, Ángel|||0000-0001-6843-6394, Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310X
Tipo de recurso: artículo
Fecha de publicación:2010
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/232061
Acceso en línea:https://riunet.upv.es/handle/10251/232061
Access Level:acceso abierto
Palabra clave:Dynamic parameter identification
Parallel robots
Base parameters
Forward dynamics
Inverse dynamics
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spelling A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parametersDíaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957Mata Amela, Vicente|||0000-0003-2255-0567Valera Fernández, Ángel|||0000-0001-6843-6394Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310XDynamic parameter identificationParallel robotsBase parametersForward dynamicsInverse dynamics[EN] The identification of the dynamic parameters in mechanical systems is important for improving model-based control and performing realistic dynamic simulations. Generally, when identification techniques are applied, only a subset of parameters so-called base parameters can be identified. Moreover, some of these parameters cannot be properly identified if they make a small contribution to the robot dynamics. In this paper, a strategy for dynamic parameter identification of parallel robots in terms of relevant parameters is put forward. The proposed methodology starts from a dynamic model developed by means of the Gibbs-Appell equations. Afterwards, the model is simplified based on the considered geometry of each link and symmetry of the legs. The identification is done by Weighted Least Squares. With statistical considerations, the number of model parameters is reduced until the physical feasibility conditions are met. The strategy has been experimentally tested on two actual 3-DOF parallel robots. The response of the inverse and forward dynamics problem using the identified parameters agrees with experiments. (C) 2010 Elsevier Ltd. All rights reserved.This research has been supported by the Spanish Government Grant DPI2009-13830-C02-01.ElsevierDepartamento de Física AplicadaEscuela Técnica Superior de Ingeniería de TelecomunicaciónDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialDepartamento de Ingeniería Mecánica y de MaterialesInstituto Universitario de Automática e Informática IndustrialInstituto Universitario de Investigación Concertado de Ingeniería Mecánica y BiomecánicaEscuela Técnica Superior de Ingeniería InformáticaMinisterio de Ciencia e InnovaciónRepositorio Institucional de la Universitat Politècnica de València Riunet20102010-09-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/232061reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2009-13830-C02-01 Modelado Cinematico Y Dinamico Del Movimiento De Los Tejidos Blandos. Aplicacion Al Diseño De Modelos Biomecanicos (Desarrollo E Implementacion De Modelos)open accesshttp://purl.org/coar/access_right/c_abf2Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) http://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/2320612026-06-13T07:49:27Z
dc.title.none.fl_str_mv A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
title A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
spellingShingle A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957
Dynamic parameter identification
Parallel robots
Base parameters
Forward dynamics
Inverse dynamics
title_short A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
title_full A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
title_fullStr A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
title_full_unstemmed A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
title_sort A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters
dc.creator.none.fl_str_mv Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957
Mata Amela, Vicente|||0000-0003-2255-0567
Valera Fernández, Ángel|||0000-0001-6843-6394
Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310X
author Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957
author_facet Díaz-Rodríguez, Miguel Ángel|||0000-0001-7243-4957
Mata Amela, Vicente|||0000-0003-2255-0567
Valera Fernández, Ángel|||0000-0001-6843-6394
Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310X
author_role author
author2 Mata Amela, Vicente|||0000-0003-2255-0567
Valera Fernández, Ángel|||0000-0001-6843-6394
Page Del Pozo, Alvaro Felipe|||0000-0002-5432-310X
author2_role author
author
author
dc.contributor.none.fl_str_mv Departamento de Física Aplicada
Escuela Técnica Superior de Ingeniería de Telecomunicación
Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Departamento de Ingeniería Mecánica y de Materiales
Instituto Universitario de Automática e Informática Industrial
Instituto Universitario de Investigación Concertado de Ingeniería Mecánica y Biomecánica
Escuela Técnica Superior de Ingeniería Informática
Ministerio de Ciencia e Innovación
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Dynamic parameter identification
Parallel robots
Base parameters
Forward dynamics
Inverse dynamics
topic Dynamic parameter identification
Parallel robots
Base parameters
Forward dynamics
Inverse dynamics
description [EN] The identification of the dynamic parameters in mechanical systems is important for improving model-based control and performing realistic dynamic simulations. Generally, when identification techniques are applied, only a subset of parameters so-called base parameters can be identified. Moreover, some of these parameters cannot be properly identified if they make a small contribution to the robot dynamics. In this paper, a strategy for dynamic parameter identification of parallel robots in terms of relevant parameters is put forward. The proposed methodology starts from a dynamic model developed by means of the Gibbs-Appell equations. Afterwards, the model is simplified based on the considered geometry of each link and symmetry of the legs. The identification is done by Weighted Least Squares. With statistical considerations, the number of model parameters is reduced until the physical feasibility conditions are met. The strategy has been experimentally tested on two actual 3-DOF parallel robots. The response of the inverse and forward dynamics problem using the identified parameters agrees with experiments. (C) 2010 Elsevier Ltd. All rights reserved.
publishDate 2010
dc.date.none.fl_str_mv 2010
2010-09-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/232061
url https://riunet.upv.es/handle/10251/232061
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2009-13830-C02-01 Modelado Cinematico Y Dinamico Del Movimiento De Los Tejidos Blandos. Aplicacion Al Diseño De Modelos Biomecanicos (Desarrollo E Implementacion De Modelos)
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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