Parametric identification of a delta type parallel robot

L. Angel; J. Viola

doi:10.1109/CCRA.2016.7811415

Parametric identification of a delta type parallel robot

L. Angel, J. Viola

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

6 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 language	English
Title of host publication	2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings
Editors	Henry Carrillo Lindado
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509037872
DOIs	https://doi.org/10.1109/CCRA.2016.7811415
State	Published - 9 Jan 2017
Event	1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Bogota D.C., Colombia Duration: 29 Sep 2016 → 30 Sep 2016

Publication series

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

Conference

Conference	1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016
Country/Territory	Colombia
City	Bogota D.C.
Period	29/09/16 → 30/09/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

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

Access to Document

10.1109/CCRA.2016.7811415

Cite this

Angel, L., & Viola, J. (2017). Parametric identification of a delta type parallel robot. In H. C. Lindado (Ed.), 2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings Article 7811415 (2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCRA.2016.7811415

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title = "Parametric identification of a delta type parallel robot",

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%.",

keywords = "ADAMS-MATLAB co-simulation, Recursive Least Squares, delta robot, parametric identification",

author = "L. Angel and J. Viola",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016 ; Conference date: 29-09-2016 Through 30-09-2016",

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doi = "10.1109/CCRA.2016.7811415",

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Angel, L & Viola, J 2017, Parametric identification of a delta type parallel robot. in HC Lindado (ed.), 2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings., 7811415, 2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings, Institute of Electrical and Electronics Engineers Inc., 1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016, Bogota D.C., Colombia, 29/09/16. https://doi.org/10.1109/CCRA.2016.7811415

Parametric identification of a delta type parallel robot. / Angel, L.; Viola, J.
2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings. ed. / Henry Carrillo Lindado. Institute of Electrical and Electronics Engineers Inc., 2017. 7811415 (2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

TY - GEN

T1 - Parametric identification of a delta type parallel robot

AU - Angel, L.

AU - Viola, J.

PY - 2017/1/9

Y1 - 2017/1/9

N2 - 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%.

AB - 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%.

KW - ADAMS-MATLAB co-simulation

KW - Recursive Least Squares

KW - delta robot

KW - parametric identification

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U2 - 10.1109/CCRA.2016.7811415

DO - 10.1109/CCRA.2016.7811415

M3 - Ponencia publicada en las memorias del evento con ISBN

AN - SCOPUS:85011994066

T3 - 2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings

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

A2 - Lindado, Henry Carrillo

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016

Y2 - 29 September 2016 through 30 September 2016

ER -

Angel L, Viola J. Parametric identification of a delta type parallel robot. In Lindado HC, editor, 2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings. Institute of Electrical and Electronics Engineers Inc. 2017. 7811415. (2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings). doi: 10.1109/CCRA.2016.7811415

Parametric identification of a delta type parallel robot

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