14th IFAC Symposium on System Identification, SYSID 2006

SYSID-2006 Paper Abstract

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Paper ThB6.5

Ramdani, Nacim (Univ. Montpellier 2), Poignet, Philippe (Univ. Montpellier 2)

Experimental Parallel Robot Dynamic Model Evaluation with Set Membership Estimation

Scheduled for presentation during the Regular Session "Applications of System Identification" (ThB6), Thursday, March 30, 2006, 16:50−17:10, Newcastle Room

14th IFAC Symposium on System Identification, March 29 - 31, 2006, Newcastle, Australia

This information is tentative and subject to change. Compiled on September 24, 2018

Keywords Mechanical and Aerospace, Bounded Error Identification

Abstract

This paper presents the application of an ellipsoidal method for experimental robust dynamic identification of parallel robots. The robot is modelled with classical Lagrange equation which leads to an inverse dynamic model linear with respect to the parameters. Assuming the error additive on input (motor torque), the problem is expressed in a bounded error context. The ellipsoidal method is applied in a factorized form in order to guarantee numerical stability. Two friction models are evaluated via set membership identification from experimental data. Results are exhibited for a fully parallel robot with 4 degrees of freedom