Parametric identification of a delta type parallel robot

L. Angel, J. Viola

    Research output: Chapter in Book/Report/Conference proceedingConference and proceedingspeer-review

    5 Scopus citations

    Abstract

    This paper presents a methodology for the parametric identification of the analytic dynamic model of a three degree of freedom delta type parallel robot. Dynamical behavior was modeled using the Euler-Lagrange analytic approach. Analytic dynamic model parameters were estimated using a MSC-ADAMS/MATLAB Cosimulation model. The identification algorithm employed was the recursive least squares, which is validated for many trajectories. The performance index employed for the identification process was the NRMSE value. Results showed that the identification methodology employed has a fit of 80%.

    Original languageEnglish
    Title of host publication2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings
    EditorsHenry Carrillo Lindado
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    ISBN (Electronic)9781509037872
    DOIs
    StatePublished - 9 Jan 2017
    Event1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Bogota D.C., Colombia
    Duration: 29 Sep 201630 Sep 2016

    Publication series

    Name2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings

    Conference

    Conference1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016
    Country/TerritoryColombia
    CityBogota D.C.
    Period29/09/1630/09/16

    Bibliographical note

    Publisher Copyright:
    © 2016 IEEE.

    Keywords

    • ADAMS-MATLAB co-simulation
    • Recursive Least Squares
    • delta robot
    • parametric identification

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