Time-effective direct dynamics identification of parallel manipulators for model-based feedforward control

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 1, Issue , 2005, Pages 777-782

  Abdellatif, Houssem ^a   Heimann, Bodo ^a   Holz, Christian ^a  

^a LEIBNIZ UNIVERSITY HANNOVER   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

DYNAMICS; MARKOV PROCESSES; TRAJECTORIES;

MARKOV ESTIMATORS; PARALLEL MANIPULATORS;

MANIPULATORS;

EID: 27644538898     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. M. Grotjahn and B. Heimann, "Model-based feedforward control in industrial robotics," International Journal of Robotics research, vol. 21, pp. 99-114, Jan. 2002.
2. J. Swevers, C. Gansemann, D. Tükel, J. d. Schutter, and H. v. Brussel, "Optimal robot excitation and identification," IEEE Transactions on Robotics and Automation, vol. 13, no. 5, pp. 730-740, 1997.
3. M. Gautier and W. Khalil, "Exciting trajectories for the identificvation of base inertial parameters of robots," The Int. Journal of Robotics Research, vol. 11, no. 4, pp. 362-375, 1992.
4. M. Grotjahn, B. Heimann, and H. Abdellatif, "Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control," Multibody System Dynamics, vol. 11, no. 3, pp. 273-294, 2004.
5. M. Honegger, R. Brega, and G. Schweitzer, "Application of a nonlinear adaptive controller to a 6 dof parallel manipulator," in Proc. of the 2000 IEEE Int. Conf. on Robotics and Automation, San Francisco, 2000, pp. 1930-1935.
6. A. Vivas et al., "Experimental dynamic identification of a fully parallel robot," in Proc. of the 2003 IEEE Int. Conference on Robotics and Automation, ICRA2003, Taipei, Taiwan, 2003, pp. 3278-3283.
7. S. Guegan, W. Khalil, and P. Lemoine, "Identification of the dynamic parameters of the orthoglide," in Proc. of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, 2003, pp. 3272-3277.
8. M. Grotjahn, J. Kuehn, B. Heimann, and H. Grendel, "Dynamic equations of parallel robots in minimal dimensional parameter-linear form," in Proc. of the 14th CISM-IFToMM Symp. on the Theory and Practice of Robots and Manipulators (RoManSy), Udine, Italy, 2002, pp. 67-76.
9. W. Khalil and S. D. Guegan, "Inverse and direct dynamics modeling of gough-stewart robots," IEEE Transactions on Robotics, vol. 20, no. 4, pp. 754-762, 2004.
10. H. Abdellatif, F. Benimelli, B. Heimann, and M. Grotjahn, "Direct identification of dynamic parameters for parallel manipulators," in Proc. of the Int. Conference on Mechatronics and Robotics 2004, MechRob2004, Aachen, Germany, 2004, pp. 999-1005.
11. L. Ljung, System Identification: Theory for the User, 2nd ed. Upper Saddle Hall, New Jersey: Prentice-Hall, 1999.
12. E. Walter and L. Pronzato, Identification of Parametric Models form Experimental Data. Londeo: Springer, 1997.
13. H. Tönshoff, H. Grendel, and G. Günther, "Actuator with linear direct drives for PKM robot applications," in Proc. of the 2000 Parallel Kinematic Machines Int. Conf., Ann Arbor, 2000, pp. 340-349.