Name
Abstract | ||
|---|---|---|
This paper presents the experimental identification of the dynamic parameters of the Orthoglide, a 3-DOF parallel mechanism. The dynamic identification model is based on the inverse dynamic model, which is linear in the parameters. The model is computed in a closed form in terms of the Cartesian dynamic model elements of the legs and of the Newton-Euler equation of the platform. The base inertial parameters of the robot, which constitute the identifiable parameters, are given. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/ROBOT.2003.1242095 | Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference |
Keywords | Field | DocType |
Jacobian matrices,manipulator dynamics,manipulator kinematics,parameter estimation,3DOF mechanism,Cartesian dynamic model elements,Newton-Euler equation,Orthoglide,dynamic identification model,inverse dynamic model,kinematic models,orthoglide parameter identification,robot inertial parameters | Inertial frame of reference,Inverse,Control theory,Control engineering,Estimation theory,Robot,Mathematics,Cartesian coordinate system,Manipulator kinematics | Conference |
Volume | Issue | ISSN |
3 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-7736-2 | 4 | 0.55 |
References | Authors | |
8 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sylvain Guegan | 1 | 4 | 0.55 |
| Wisama Khalil | 2 | 234 | 25.64 |
| Philippe Lemoine | 3 | 30 | 2.49 |