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

Publikation: KonferenzbeitragPaperForschungPeer-Review

Autorschaft

  • H. Abdellatif
  • Bodo Heimann
  • Christian Holz

Organisationseinheiten

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Details

OriginalspracheEnglisch
Seiten777-782
Seitenumfang6
PublikationsstatusVeröffentlicht - 2005
Veranstaltung2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, USA / Vereinigte Staaten
Dauer: 24 Juli 200528 Juli 2005

Konferenz

Konferenz2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Land/GebietUSA / Vereinigte Staaten
OrtMonterey, CA
Zeitraum24 Juli 200528 Juli 2005

Abstract

Model-based control of robotic manipulators necessitates accurately parameterized models. This issue is especially important for complex and coupled mechanisms like parallel manipulators. This paper provides a methodology that permits the estimation of model parameters in a time-inexpensive manner. Due to the limited workspace, a bounded and periodic excitation trajectory is advantageous. Only one measurement procedure is necessary for accurate identification, which is carried out by means of the Markov estimator. Rigid-body and friction models are identified and integrated in a feedforward control. The success, accuracy and robustness of the proposed methodology are substantiated with a multitude of experimental results.

ASJC Scopus Sachgebiete

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Time-effective direct dynamics identification of parallel manipulators for model-based feedforward control. / Abdellatif, H.; Heimann, Bodo; Holz, Christian.
2005. 777-782 Beitrag in 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, USA / Vereinigte Staaten.

Publikation: KonferenzbeitragPaperForschungPeer-Review

Abdellatif, H, Heimann, B & Holz, C 2005, 'Time-effective direct dynamics identification of parallel manipulators for model-based feedforward control', Beitrag in 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, USA / Vereinigte Staaten, 24 Juli 2005 - 28 Juli 2005 S. 777-782.
Abdellatif, H., Heimann, B., & Holz, C. (2005). Time-effective direct dynamics identification of parallel manipulators for model-based feedforward control. 777-782. Beitrag in 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, USA / Vereinigte Staaten.
Abdellatif H, Heimann B, Holz C. Time-effective direct dynamics identification of parallel manipulators for model-based feedforward control. 2005. Beitrag in 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, USA / Vereinigte Staaten.
Abdellatif, H. ; Heimann, Bodo ; Holz, Christian. / Time-effective direct dynamics identification of parallel manipulators for model-based feedforward control. Beitrag in 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, USA / Vereinigte Staaten.6 S.
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