Path Accuracy Improvement of Parallel Kinematic Structures by Identification of Friction and Rigid-Body Dynamics

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Authors

  • Martin Grotjahn
  • H. Abdellatif
  • Bodo Heimann

Research Organisations

External Research Organisations

  • IAV GmbH
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Details

Original languageEnglish
Title of host publicationProc. Of the Parallel Kinematics Seminar, PKS2004
Place of PublicationChemnitz, Deutschland
Pages217-236
Number of pages20
Publication statusPublished - 2004

Abstract

This paper presents a new identification approach for PKM dynamics based on a two-step estimation strategy. A number of local models is identified for different configurations in the first step of the identification scheme. In the second step they are used to obtain the global model of the PKM by application of a least square estimator. The efficiency and capacity of the proposed approach is proved by the experimental application to the linear direct driven hexapod PaLiDA. Excellent identification results and high model quality were found. The implementation of the identified model for feedforward control provides a significant improvement of path accuracy and shows that the consideration of friction is very important. Since only simple PTP-Motion are used for parameter excitation, the approach can be simply implemented in standard industrial controls. The methodology offers the possibility of separate identification of rigid-body and friction dynamics. Additional loads in manufacturing processes can be also quickly identified, in order to guarantee an adaptation to changed model parameters.

Cite this

Path Accuracy Improvement of Parallel Kinematic Structures by Identification of Friction and Rigid-Body Dynamics. / Grotjahn, Martin; Abdellatif, H.; Heimann, Bodo.
Proc. Of the Parallel Kinematics Seminar, PKS2004. Chemnitz, Deutschland, 2004. p. 217-236.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Grotjahn, M, Abdellatif, H & Heimann, B 2004, Path Accuracy Improvement of Parallel Kinematic Structures by Identification of Friction and Rigid-Body Dynamics. in Proc. Of the Parallel Kinematics Seminar, PKS2004. Chemnitz, Deutschland, pp. 217-236.
Grotjahn, M., Abdellatif, H., & Heimann, B. (2004). Path Accuracy Improvement of Parallel Kinematic Structures by Identification of Friction and Rigid-Body Dynamics. In Proc. Of the Parallel Kinematics Seminar, PKS2004 (pp. 217-236).
Grotjahn M, Abdellatif H, Heimann B. Path Accuracy Improvement of Parallel Kinematic Structures by Identification of Friction and Rigid-Body Dynamics. In Proc. Of the Parallel Kinematics Seminar, PKS2004. Chemnitz, Deutschland. 2004. p. 217-236
Grotjahn, Martin ; Abdellatif, H. ; Heimann, Bodo. / Path Accuracy Improvement of Parallel Kinematic Structures by Identification of Friction and Rigid-Body Dynamics. Proc. Of the Parallel Kinematics Seminar, PKS2004. Chemnitz, Deutschland, 2004. pp. 217-236
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AB - This paper presents a new identification approach for PKM dynamics based on a two-step estimation strategy. A number of local models is identified for different configurations in the first step of the identification scheme. In the second step they are used to obtain the global model of the PKM by application of a least square estimator. The efficiency and capacity of the proposed approach is proved by the experimental application to the linear direct driven hexapod PaLiDA. Excellent identification results and high model quality were found. The implementation of the identified model for feedforward control provides a significant improvement of path accuracy and shows that the consideration of friction is very important. Since only simple PTP-Motion are used for parameter excitation, the approach can be simply implemented in standard industrial controls. The methodology offers the possibility of separate identification of rigid-body and friction dynamics. Additional loads in manufacturing processes can be also quickly identified, in order to guarantee an adaptation to changed model parameters.

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