XXI ICTAM, 15–21 August 2004, Warsaw, Poland A SYSTEMATIC LOAD IDENTIFICATION PROCEDURE FOR PARALLEL ROBOT MANIPULATORS
نویسندگان
چکیده
This paper presents a systematic load identification procedure for a class of parallel robot manipulators. It is considered as a regular dynamic robot identification problem since the load is rigidly fixed on the robot-platform. The challenge is that the estimation must be based only on the measurements obtained through sensors in the robot actuators. The load identification procedure is exemplified by experimental studies with a calibrated test load using periodic robot excitation.
منابع مشابه
XXI ICTAM, 15–21 August 2004, Warsaw, Poland IDENTIFICATION OF SOME CHEMOPOROELASTIC PARAMETERS OF A REACTIVE SHALE FROM EXPERIMENTAL DATA
This paper is concerned with the experimental identification of some chemoporoelastic parameters of a chemically reactive shale from data obtained in pore pressure transmission-chemical potential tests. The parameter identification is carried out by matching the observed pressure response with a theoretical solution of the experiment. This solution is obtained within the framework of Biot theor...
متن کاملXXI ICTAM, 15–21 August 2004, Warsaw, Poland ATTRACTOR AND PATTERN CONTROL IN NONLINEAR MEDIA BY LOCALIZED DEFECTS
We consider pattern and attractor control in nonlinear dissipative systems. We develop an analytic approach to attractor control for neural, genetic networks systems of coupled oscillators and spatially extended systems. In particular, we apply this method for some systems of Ginzburg-Landau’s type and others.
متن کاملXXI ICTAM, 15-21 August 2004, Warsaw, Poland SIMULATION OF CONTACTING SPATIAL POLYHEDRAL PARTICLES
In the following, the collective dynamical behaviour of many convex and non-convex polyhedral bodies in space is described. To be able to simulate a high number of bodies, methods from Molecular Dynamics (MD) are frequently used. Here these methods are combined with collision detection methods and contact formulations adopted from Multibody Systems (MBS). The used methods are presented briefly ...
متن کاملXXI ICTAM, 15–21 August 2004, Warsaw, Poland COMPARISON OF THE PERFORMANCE OF NOVEL ENDOVASCULAR TREATMENT TECHNIQUES FOR CEREBRAL ANEURYSMS
Cerebral aneurysms result from a complex interplay between mechanical stresses and pathophysiological changes occurring in the arterial wall. In order to reduce the hemodynamic forces acting on the aneurysmal wall, new endovascular treatments have been developed involving the exclusion of the aneurysm from the intracranial circulation. A comparative study of the performance of three of these te...
متن کاملXXI ICTAM, 15–21 August 2004, Warsaw, Poland ADAPTIVE DISCONTINUOUS GALERKIN METHOD FOR ELASTODYNAMICS ON UNSTRUCTURED SPACETIME GRIDS
We present an adaptive spacetime discontinuous Galerkin (SDG) method for linearized elastodynamics. The SDG method uses a simple Bubnov-Galerkin projection that delivers stable and oscillation–free solutions, with O (N) complexity and exact momentum balance on every spacetime element. An extended version of the Tent Pitcher algorithm generates unstructured spacetime grids that support simultane...
متن کامل