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

Díaz‐Rodríguez, Miguel; Mata, Vicente; Valera, Ángel; Page, Álvaro

doi:10.1016/j.mechmachtheory.2010.04.007

Cited by 56 publications

(37 citation statements)

References 22 publications

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“…In the case of 3-RPS architecture, the actuators move around the revolution joints. Another aspect for considering the PRS architecture is that the number of parameter for the dynamics model is lower than the RPS; see (Díaz-Rodriguez et al, 2010) (25 rigid body parameters for the 3-RPS and 19 for the PRS), which is an important aspect when dealing with dynamic parameter identification and model-based control. Fig.…”

Section: Parallel Robot Designmentioning

confidence: 99%

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Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Vallés

Díaz‐Rodríguez

Valera

et al. 2012

Mechanics Based Design of Structures and Machines

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Section: Parallel Robot Designmentioning

confidence: 99%

“…However, in order to identify the dynamic parameters, the model in linear parameter form has to be build first as follows as in (Díaz-Rodriguez et al, 2010), (Awtar et al, 2002),…”

Section: Dynamic Modelmentioning

confidence: 99%

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Vallés

Díaz‐Rodríguez

Valera

et al. 2012

Mechanics Based Design of Structures and Machines

Self Cite

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“…Because there are seven moving parts and friction forces exist in all joints, all the inertial, frictional, and load parameters will lead to a large observation matrix and parameter vector. Farhat and Díaz-Rodríguez proposed methods for this kind of identification process (Farhat et al, 2008;Díaz-Rodríguez et al, 2010).…”

Section: Introductionmentioning

confidence: 99%

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Tao

Shang

Meng

et al. 2017

J. Zhejiang Univ. - Sci. C

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A control algorithm for a 3-RPS parallel platform driven by pneumatic cylinders is discussed. All cylinders are controlled by proportional directional valves while the kinematic and dynamic properties of the system are modeled. The method of adaptive robust control is applied to the controller using a back-stepping approach and online parameter estimation. To compensate for the uncertainty and the influence caused by estimations, a fast dynamic compensator is integrated in the controller design. To prevent any influence caused by the load applied to the moving platform changing in a practical working situation, the identification of parameters is taken as the initialization of unknown parameters in the controller, which can improve the adaptability of the algorithm. Using these methods, the response rate of the parameter estimation and control performance were improved significantly. The adverse effects of load and restriction forces were eliminated by the initialization and online estimation. Experiments under different situations illustrated the effectiveness of the adaptive robust controller with parameter initialization, approaching average tracking errors of less than 1%.

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“…Several authors have proposed methods to determine and to reduce the number of parameters to be used in the inverse dynamics of manipulators (Fogarasy and Smith, 1997;Ebrahimi and Haghi, 2013;Díaz-Rodríguez et al, 2010;Ros et al, 2012;Chen and Beale, 2003;Yoshida et al, 1995) as well as to determine the minimum number of required parameters (Gautier and Khalil, 1988). It has also been inves-tigated the possibility that the parameters vary over time to facilitate manoeuvrability of manipulators in singular configurations (Parsa et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

“…In some of the mentioned works, all the reduced inertial parameters are obtained from the Lagrangian formulation. In this study, these parameters, as well as the reduced forces and moments present in the equation of motion, are introduced from the energy theorem or Eksergian's method (Eksergian, 1930;Doughty, 1988). This approach allows the incorporation, in a simple way conceptually and operationally, of motors and passive resistances described by means of the dissipated energy.…”

Section: Introductionmentioning

confidence: 99%

Reduced inertial parameters in system of one degree of freedom obtained by Eksergian's method

2017

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Abstract. The mechanisms of one degree of freedom can be dynamically analysed by setting out a single differential equation of motion which variable is the generalized coordinate selected as independent. In front of the use of a set of generalized dependent coordinates to describe the system, the method exposed in this work has the advantage of working with a single variable but leads to complex analytical expressions for the coefficients of the differential equation, even in simple mechanisms. The theoretical approach, in this paper, is developed from Eksergian's method and Lagrange's equations. The equation of motion is written by means of a set of parameters -reduced parameters -that characterize the dynamic behaviour of the system. These parameters are function of the independent coordinate chosen and its derivative and can be obtained numerically by direct calculus or by means of a kinetostatic analysis, as is proposed. Two cases of study of the method are presented. The first example shows the study of pedalling a stationary bicycle used in a rehabilitation process. The second one shows the analysis of a single dwell bar mechanism which is driven by an electric motor.

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

Cited by 56 publications

References 22 publications

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator

Posture control of a 3-RPS pneumatic parallel platform with parameter initialization and an adaptive robust method

Reduced inertial parameters in system of one degree of freedom obtained by Eksergian's method

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