Parametric identification of a delta type parallel robot

L. Angel, J. Viola

    Producción científica: Capítulo del libro/informe/acta de congresoPonencia publicada en las memorias del evento con ISBNrevisión exhaustiva

    5 Citas (Scopus)

    Resumen

    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%.

    Idioma originalInglés
    Título de la publicación alojada2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings
    EditoresHenry Carrillo Lindado
    EditorialInstitute of Electrical and Electronics Engineers Inc.
    ISBN (versión digital)9781509037872
    DOI
    EstadoPublicada - 9 ene. 2017
    Evento1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Bogota D.C., Colombia
    Duración: 29 sep. 201630 sep. 2016

    Serie de la publicación

    Nombre2016 IEEE Colombian Conference on Robotics and Automation, CCRA 2016 - Conference Proceedings

    Conferencia

    Conferencia1st IEEE Colombian Conference on Robotics and Automation, CCRA 2016
    País/TerritorioColombia
    CiudadBogota D.C.
    Período29/09/1630/09/16

    Nota bibliográfica

    Publisher Copyright:
    © 2016 IEEE.

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