Mechatronic Design in Automotive Systems

Identification of dynamic parameters of a 3-DOF RPS parallel manipulator

“…As can be observed, the value ofŨ I base (2), when compared with the corresponding inertial combinations shown in Table 1, is physically unfeasible. Hence, the need for optimization in the identification process appears -in this case -clearly.…”

“…The importance of these parameters can be revealed by their role in the precision, performance and stability of the advanced model-based control algorithms, see [1], the validation of the simulation results [2], and the accurate path planning algorithms [3]. Normally, the amount of information about dynamic parameters when provided by the manufacturer is not only inconsistent, but also, as in the case of the friction parameters, is not provided.…”

Dynamic Parameter Identification for Parallel Manipulators

“…It is known that the validation of the direct dynamic problem depends considerably on the precision of the dynamic parameters of the mechanical system. An accurately modeled robot permits the substitution of the real mechanical system by a virtual one thus avoiding the expensive experimental tests used to adjust the operational parameters for this system (Hiller et al, 2002). Additionally, another important field in which accurate knowledge of the dynamic parameters is needed is in path planning algorithms that take into account robot dynamics.…”

Estimación de parámetros dinámicos en robots manipuladores

“…En efecto, la simulación dinámica se ha convertido en una herramienta imprescindible en el diseño de sistemas mecánicos e incluso de los propios sistemas de control. La simulación dinámica permite sustituir costosos ensayos experimentales a la hora de ajustar los parámetros de funcionamiento de los sistemas (Hiller et al 2002). Ahora bien, la validez de los resultados de dicha simulación dinámica depende no sólo de la modelización efectuada del sistema mecánico o del integrador empleado, aspectos ya ampliamente tratados, sino, y muy especialmente, de los parámetros considerados en el modelo dinámico del sistema mecánico.…”