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This paper deals with the experimental identification of the dynamic parameters of parallel machines. The dynamic parameters are estimated by using the weighted least squares solution of an over determined linear system obtained from the sampling of the dynamic model along a closed loop exciting trajectory. Experimental results are exhibited for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. A comparative study is performed depending on the available measurements i.e. different sensor locations (motor, end effector).

Este artículo presenta el modelado matemático y estructural, la simulación por computador y el control por par calculado del robot para cirugía laparoscópica 'LapBot', que ha sido desarrollado en

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This paper deals with an efficient application of a model based predictive control in parallel machines. A receding horizon control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. The model based predictive control and the commonly used computed torque control strategies are compared. The tracking performances and the robustness with respect to external disturbances or model / robot mismatch, are enlightened.