Dedicated Dynamic Parameter Identification for Delta-Like Robots
Sprache des Titels:
Englisch
Original Kurzfassung:
Dynamics simulation of parallel kinematic manip-
ulators (PKM) and non-linear control methods require a pre-
cisely identified dynamics model and explicit generalized mass
matrix. Standard methods, which identify so-called dynamic base-
parameters, are not sufficient to this end. Algorithms for identifying
the complete set of dynamic parameters were proposed for serial
manipulators. A dedicated identification method for PKM does not
exist, however. Such a method is introduced here for the large class
of Delta-like PKM exploiting the parallel structure and making use
of model simplifications specific to this class. The proposed method
guarantees physical consistency of the identified parameters, and in
particular a positive definite generalized mass matrix. The method
is applied to a simulated model with exactly known parameters,
which allows for verification of the obtained dynamic parameters.
The results show that the generalized mass matrix, the acceleration,
and the Coriolis, gravitation and friction terms in the equations of
motion (EOM) are well approximated. The second example is a
real 4-DOF industrial Delta robot ABB IRB 360-6/1600. For this
robot, a physically consistent set of inertia and friction parameters
is identified from measurements. The method allows prescribing
estimated parameters, but does not rely on such data, e.g. from
manufacturer or CAD.
Forschungs-