Dynamic Parameter Identification for Parallel Manipulators

Mata, Vicente; Farhat, Nidal; Díaz‐Rodríguez, Miguel; Valera, Ángel; Page, Álvaro; Valencia, Materiales

doi:10.5772/5424

Cited by 10 publications

(11 citation statements)

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“…Mata et al (2008) presented a method for the Jacobian matrix by considering the linear velocity at the split joints. The velocities can be computed through the Jacobian analysis of each leg.…”

Section: Dynamics Considering the Manipulator As Open Kinematic Chainsmentioning

confidence: 99%

“…Carbonari et al (2013) solved the inverse dynamics of a 3-DOF parallel manipulator via screw theory and the PVW. On the other hand, the 3-RPS manipulator presents similar characteristics to the 3-PRS manipulator, in this respect, Mata et al (2008) implement recursive velocity equations used in serial manipulator analysis to find the Jacobian of the manipulator for the inverse dynamic modelling, and Ibrahim and Khalil (2007) exploit architectural characteristics of the 3-RPS to give a closed form solution for the inverse and direct dynamics modelling.…”

Section: Introductionmentioning

confidence: 99%

“…In fact, software architecture, for model based control (Díaz-Rodríguez et al, 2013), relies on minimizing computational task timing commonly constrained by fast sampling periods (Goodwin et al, 1992). Similarly, in other applications, such parameter identification (Mata et al, 2008), and internal redundancy (Parsa et al, 2013) few papers have focused on revisiting and comparing computationallyinexpensive methods in order to obtain the dynamic model of the 3-PRS configuration for cost-effective real-time applications.…”

Section: Introductionmentioning

confidence: 99%

“…The kinematics and workspace analyses of the manipulator have been extensively studied in Carretero et al (2000a), Carretero et al (2000b), Tsai et al (2002), Li and Xu (2007), to name a few. On the other hand, despite the fact that inverse dynamic modelling is essential for optimal design, parameter identification (Mata et al, 2008), model-based control (Díaz-Rodríguez et al, 2013), and internal redundancy (Parsa et al, 2013) amongst others, few papers have focused on revisiting and comparing computationally-inexpensive methods in order to obtain the dynamic models that are cost-effective for real-time applications.…”

Section: Introductionmentioning

confidence: 99%

“…The first formulation applies the general solution of PMs dynamic modelling proposed in Khalil and Ibrahim (2007). The second method considers the manipulator as a set of open kinematic chains and finds the Jacobian in joint space coordinates by taking into account the vector loop constraints at the split joints (Mata et al, 2008). The third method relies on the modelling approach originally presented in Li and Xu (2004).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Solving the dynamic equations of a 3-PRS Parallel Manipulator for efficient model-based designs

2016

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Abstract. Introduction of parallel manipulator systems for different applications areas has influenced many researchers to develop techniques for obtaining accurate and computational efficient inverse dynamic models. Some subject areas make use of these models, such as, optimal design, parameter identification, model based control and even actuation redundancy approaches. In this context, by revisiting some of the current computationally-efficient solutions for obtaining the inverse dynamic model of parallel manipulators, this paper compares three different methods for inverse dynamic modelling of a general, lower mobility, 3-PRS parallel manipulator. The first method obtains the inverse dynamic model by describing the manipulator as three open kinematic chains. Then, vector-loop closure constraints are introduced for obtaining the relationship between the dynamics of the open kinematic chains (such as a serial robot) and the closed chains (such as a parallel robot). The second method exploits certain characteristics of parallel manipulators such that the platform and the links are considered as independent subsystems. The proposed third method is similar to the second method but it uses a different Jacobian matrix formulation in order to reduce computational complexity. Analysis of these numerical formulations will provide fundamental software support for efficient model-based designs. In addition, computational cost reduction presented in this paper can also be an effective guideline for optimal design of this type of manipulator and for real-time embedded control.

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Section: Dynamics Considering the Manipulator As Open Kinematic Chainsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%