Dynamics Identification of Parallel Manipulators

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Autoren

  • H. Abdellatif
  • Jens Kotlarski
  • Bodo Heimann

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Details

OriginalspracheEnglisch
Titel des SammelwerksProc. of the 3rd International Colloquium of the Collaborative Research Center SFB 562 - Robotic Systems for Handling and Assembly
ErscheinungsortBraunschweig, Germany
Seiten37-52
Seitenumfang16
PublikationsstatusVeröffentlicht - 2008

Abstract

The article provides a review on the dynamics identification for parallel manipulators. Four major steps are necessary to he treated systematically. The first preliminary step consists in the formulation of the dynamics model in a linear form with respect to the parameter set to be identified. The paper outlines this issue and points out relevant aspects for the case of parallel robots. The second step is the appropriate experimental design that aims providing measurements containing necessary information to allow for reliable and efficient estimation. At this stage the choice of the estimation technique is addressed. Last, the impact of identification on the control accuracy is stressed out when the estimated model is used for dynamics compensation. Throughout the paper, appropriate methods are presented, which are substantiated with experimental results.

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Dynamics Identification of Parallel Manipulators. / Abdellatif, H.; Kotlarski, Jens; Heimann, Bodo.
Proc. of the 3rd International Colloquium of the Collaborative Research Center SFB 562 - Robotic Systems for Handling and Assembly. Braunschweig, Germany, 2008. S. 37-52.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Abdellatif, H, Kotlarski, J & Heimann, B 2008, Dynamics Identification of Parallel Manipulators. in Proc. of the 3rd International Colloquium of the Collaborative Research Center SFB 562 - Robotic Systems for Handling and Assembly. Braunschweig, Germany, S. 37-52.
Abdellatif, H., Kotlarski, J., & Heimann, B. (2008). Dynamics Identification of Parallel Manipulators. In Proc. of the 3rd International Colloquium of the Collaborative Research Center SFB 562 - Robotic Systems for Handling and Assembly (S. 37-52).
Abdellatif H, Kotlarski J, Heimann B. Dynamics Identification of Parallel Manipulators. in Proc. of the 3rd International Colloquium of the Collaborative Research Center SFB 562 - Robotic Systems for Handling and Assembly. Braunschweig, Germany. 2008. S. 37-52
Abdellatif, H. ; Kotlarski, Jens ; Heimann, Bodo. / Dynamics Identification of Parallel Manipulators. Proc. of the 3rd International Colloquium of the Collaborative Research Center SFB 562 - Robotic Systems for Handling and Assembly. Braunschweig, Germany, 2008. S. 37-52
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