Identification of the dynamic parameters of the orthoglide

This paper presents the experimental identification of the dynamic parameters of the Orthoglide [1], a 3-DOF parallel. 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.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Sylvain Guegan, Wisama Khalil, Philippe Lemoine
• Keywords: Dynamic Identification Model, Dynamic Model, ICRA 2003, Inverse Dynamic Model, Robotics