A SYSTEMATIC LOAD IDENTIFICATION PROCEDURE FOR PARALLEL ROBOT MANIPULATORS

摘要

This paper presents a systematic load identification procedure for a class of parallel robot manipulators. It is considered as a regular dynamic robot identification problem since the load is rigidly fixed on the robot-platform. The challenge is that the estimation must be based only on the measurements obtained through sensors in the robot actuators. The load identification procedure is exemplified by experimental studies with a calibrated test load using periodic robot excitation.