Exciting Trajectories Design for the Dynamic Identification of Parallel Manipulators

In order to achieve accurate dynamic identification of parallel manipulators, the exciting trajectories have to be specially designed according to some optimal criteria. Two different criteria are developed based on the Weighted Least Squares (WLS) dynamic equations of parallel manipulators. Then the exciting trajectories are parameterized with the finite Fourier series, and optimized by the nonlinear optimization algorithm. The exciting trajectories and dynamic identification are implemented on a 2-DOF redundantly actuated parallel manipulator, and the experiment results indicate that the accurate dynamic model can be established by using the proposed method.