Identification of the Dynamic Parameters of the C5 Parallel Robot
نویسندگان
چکیده
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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