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Authors: B. Achili 1 ; B. Daachi 2 ; Y. Amirat 2 and A. Ali-Cherif 3

Affiliations: 1 Laboratoire Images, Signaux et Systèmes intelligents; Laboratoire d’Informatique Avancée de Saint Denis, France ; 2 Laboratoire Images, Signaux et Systèmes intelligents, France ; 3 Laboratoire d’Informatique Avancée de Saint Denis, France

ISBN: 978-989-8111-31-9

Keyword(s): Identification, Parallel Robot, Least Squares Method, Cross validation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Intelligent Fault Detection and Identification ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper deals with the experimental identification of the dynamic parameters of the C5 parallel robot. The inverse dynamic model of the robot is formulated under the form of linear equation with respect to the dynamic parameters. Moreover, a heuristic procedure for finding the exciting trajectory has been conducted. This trajectory is based on Fourier series whose coefficients are determined by using a heuristic method. The least squares method has been applied to solve an over-determined linear system which is obtained by sampling the dynamic model along the exciting trajectory. The experimental results show the effectiveness of the identification procedure.

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Paper citation in several formats:
Achili B.; Daachi B.; Amirat Y.; Ali-Cherif A. and (2008). IDENTIFICATION OF THE DYNAMIC PARAMETERS OF THE C5 PARALLEL ROBOT.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-31-9, pages 67-70. DOI: 10.5220/0001487300670070

@conference{icinco08,
author={B. Achili and B. Daachi and Y. Amirat and A. Ali{-}Cherif},
title={IDENTIFICATION OF THE DYNAMIC PARAMETERS OF THE C5 PARALLEL ROBOT},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2008},
pages={67-70},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001487300670070},
isbn={978-989-8111-31-9},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - IDENTIFICATION OF THE DYNAMIC PARAMETERS OF THE C5 PARALLEL ROBOT
SN - 978-989-8111-31-9
AU - Achili, B.
AU - Daachi, B.
AU - Amirat, Y.
AU - Ali-Cherif, A.
PY - 2008
SP - 67
EP - 70
DO - 10.5220/0001487300670070

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