Dynamic parameter identification of parallel robots starting from the measurement of joints position and forces.

• Miguel Díaz Rodríguez Universidad de Los Andes-Venezuela
• Vicente Mata Universidad Politécnica de Valencia-España
• Nidal Farhat Universidad Politécnica de Valencia-España
• Sebastián Provenzano Universidad de los Andes-Venezuela

Palabras clave: dynamic parameter identification, parallel robots, friction modelling

Resumen

In this paper the dynamic parameter identification of parallel robots starting from the measurement of positions and forces in the actuators is addressed. Methods for obtaining the time derivatives from the measurement of the angular displacement are evaluated. The procedures used are: a) Local Fitting, b) Finite Fourier series and c) Central differences. The identification is carried out by means of a linear model, with respect to the inertial parameters, obtained from the Newton-Euler equations. Linear models are used for friction modelling in the robot joints. Finally the parameter identification is evaluated experimentally over a 3-RPS parallel robot.