On the Robust Dynamics Identification of Parallel Manipulators: Methodology and Experiments

Abstract

The present chapter discussed most significant aspects to achieve accurate and robust dynamics identification for parallel manipulators with 6 dof's. Hereby, the adequate consideration of structural properties of such systems has been stressed out. First, an efficient methodology to determine the inverse dynamics in a parameterlinear form has been presented, which enables the use of linear estimation techniques. Periodic excitation has been proved to be a powerful method for parallel robots, since it allows for appropriate consideration of hard workspace constraints. Due to measurement noise and cross coupling between the actuators, the achievement of the identification in a statistical framework is recommended. This includes the consideration of disturbance covariances in the experiment design, the use of Gauss-Markov estimation approach as well as the frequency-domain filtering to extract non measurable information from rough data. The robustness of the