Dynamics and Control of Robots with Parallel Kinematical Structures
نویسندگان
چکیده
A new approach for the identification of friction and rigid-body dynamics of complex parallel kinematical structures is presented in this paper. The approach is based on optimal excitation trajectories with the linear estimation theory as the mathematical background. The trajectories are bounded in such a way that they are easy to be fit into the small and hard constrained workspace of PKM.
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تاریخ انتشار 2006